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In the video, the trigger is squeezed slightly before a final push releases it from the controller. When the Joy-Con moves away, you can also see a small cylinder retracting to the top of the controller’s interior; To me, this suggests that when you squeeze the trigger, you’re actually pushing that cylinder out to help eject the Joy-Con.
Here’s a GIF of the relevant part of the video:
GIF by Andrew Liszewski/The Verge
The Joy-Con controllers’ removal mechanism looks similar to what was included in a 3D-printed mockup designed by accessory maker Genki Brought to CES.