If you want a window into Nintendo’s view of Prime 4 look no further than the post release interviews with Kensuke Tanabe where he said in the nicest way possible that pretty much everything that people had problems with came from him. The bike, the open world desert, the story focusing heavily on the side characters to make you care about them, etc. With him also leaving his producing duties behind I think this was Nintendo sending the message that they knew they messed up in the most civil way possible. I don’t think Prime 5 is off the table either since Risa Tabata (Tanabe’s replacement) has been working under him since Prime 2.