The only consoles you listed that is restricted to composite cables without modifications is the toaster NES (The top loader was RF only) and likely whatever you play Genesis games on. For cables that are easy to find that you can expect a television to support and without needing to do any hardware modifications (So no fancy SCART or RGB options or things like s-video mods), you have options beyond composite video for most consoles since 1990 just by buying a $10 cable.
The original Super Nintendo supports s-video (The redesign from the late 90's eliminated s-video support, but you likely own the original), the Nintendo 64 supported s-video, the Wii supports component video, the Playstation 2 supports component video, etc.
I'm not sure what you are referring to by switches. Do you mean something like a system selector/AV selector? They don't process the image so they don't introduce any lag.
My advice is use the best cable possible for each system. And if you have any RF consoles, investigate the various video modifications out there (My Atari 2600, 5200, 7800 and XEGS are s-video modded, for instance). I own virtually every viable console that was released in North America besides a Neo Geo, and the only consoles I own that still use RF are my Intellivision, my Emerson Arcadia 2001, and my Odyssey². And just my Sega Master System, my Sega Genesis/CD/32, Turbografx-16, Colecovision (I actually play it on a Coleco ADAM computer that had native composite output, regular Colecovisions were RF only), and NES are hooked up by composite cables.
Everything else is hooked up by s-video (Most other systems), component (PS2, Xbox, and Wii), VGA (In the case of the Dreamcast), or HDMI (360 and PS3). And of course the Vectrex has its own built in vector display.