I don't know that I buy "Amazon waited until the time was right to release the Kindle Fire."
The first-generation Fire was actually kind of rough around the edges, from the reviews I read. B&N had a slight advantage at that point in that they were competing against a first-gen device with their second-or-third generation device.
In the end, though, the Kindles beat the Nook fairly soundly. I'm guessing that Amazon's reputation and ecosystem and marketing was what put them over. That and the fact that the Nooks that followed the Nook Color were fairly underwhelming hardware-wise.
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