First of all, the team that worked on the game consisted of just 40 people. Secondly, they only worked on it for two years to push it out for release within the Switch's first year on the market, as per Nintendo's wishes. It's also a known fact that Monolith never has the kind of full fledged budget that, say, the Zelda team does.
The game is obviously limited by these constraints. The game launched with a clearly distinct lack of polish and QOL, it's clearly not optimized for handheld play (or wasn't), it has bugs, lip syncing and voice acting issues. I love XC2, which is why I feel even more strongly that if Monolith had more time and money to work with, it could have been an even better game.