I would really be interested in an explanation of why driver issues persist on linux, or at least why there were so many issues. Do vendors have financial pref

I would really be interested in an explanation of why driver issues persist on linux, or at least why there were so many issues. Do vendors have financial preference to work with microsoft to write and maintain those drivers? I'm talking about things like touchpads, wifi... I can understand that if there's no demand, it makes no point for them, but even after all this time? Not to mention nvidia. What makes nvidia be so complacent towards linux? It has been almost 15 years now. Are there agreements between microsoft and nvidia? The arguments of Stallman make sense, but to me they don't explain the state of linux drivers, which made the linux desktop so difficult.