Specifically, Cortex-M provides the PendSV exception (Pend Service Call) [2], which you can program to perform the context switch and configure with the lowest interrupt priority (0xFF). When the RTOS ...

Allowing developers to handle an exception from the selector in switch with a case in the switch block ... platforms including Java and .NET and programming languages including JavaScript ...

But really I just wish Nintendo would make it easier for hobbyists to put their own Unreal and Unity games on the Switch, without having to jump through hoops to get into the developer program.