Not everyone can afford the controller, Bobby. It isn't exactly cheap.
I've had the problem though and just stick to holding the joycons individually in each hand to play and let my hands/arms rest wherever while playing. It's a bit more comfortable for me.
In handheld mode, yes. I only really play on the TV. I use the joycon grip that comes with the switch and it feels fine for me but it's probably different for guy players with bigger hands.
The only controller thst makes my hand uncomfortable is the pro controller. I bought it because everyone talked it up and dug it for a minute but it's definitely the most uncomfortable controller for the switch.