I personally feel the Switch was a huge letdown in this area, efficient yes but it feels too simplistic and no music
Wii U was probably my favourite, very beautiful, modern, futuristic, cozy yet mysterious and beautiful music, nice integration with the gamepad, handy folders and customisability, consistent UI design across apps, pretty much perfection.
Wii was a bit more simplistic than its successor but hugely nostalgic and excellent music and sound effects, and I like the very homely feel with all those channels, a shame it's not more customisable
3DS was also pretty great, and highly customisable especially with hacks (which I did)
Finally, I also fairly liked the GameCube menu, sure it was a bit simple but a very cool and interesting concept with the rotating cube and the menu music was very nice, very relaxing and calming and quite nostalgic but also mysterious, and an amazing Easter egg for those in the know.