False. That guy you call friend must be a "Sony scumbag"
Both Sony and Nintendo dont provide any cost on having a license.
However, their dev kits are what have prices and perhaps their publishing services as well. PS4 dev kit costs $2500 (except it can be lent if you run a highly recognize (famous) third party indie group). Nintendo on the other hand is around $450 on dev kit. Nothing more. Sometimes, you dont have to pay for the companies own publishing service. You can use third party publishers and the prices of those can vary for any console you are making for. So in the end, Nintendo is cheaper.
Now for microsoft,... that can vary a lot. It can be cheaper or more expensive than the others. Its not precise at all since it depends on what you do to build your game.
But warning. This info is a bit old (from 2017) so I dunno what is the status now on prices.
PS: Nintendo development is not difficult at all. Its a bit different compared to traditional game development but its not hard at all. Sure, it can be a bit tedious on making a damn ton of effects with high graphics because of its processing card but seriously, that doesnt mean its difficult. Tell me you cant make an Undertale for Switch... thats a game maker game and it was managed to be ported.