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Suyu, a potential replacement for Yuzu
(gitlab.com)
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The only reason Switch emulation is as far along as it is is because they made a mistake with the hardware in the Switch's 2017 model. As long as they don't make a mistake like that again, they'll probably be fine.
Physical access is the one thing you can't shield a device from permanently. Eventually you have to relinquish some security to let users play on their consoles, or allow your service teams the ability to debug and repair it.
Those will always be the way in for anyone with the will and means to reverse engineer your system.
Modern systems being built on open hardware (compared to their predecessors) is a big thing too. ARM and x86 are easier to debug and emulate than Cell, for example.