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There had been rumors a while ago that Nintendo is working on one. However, these rumors dated it after Animal Crossing for mobile devices, where we got Dragalia Lost instead. And now we're getting Mario Kart Tour...
Still, I think it's entirely possible, if the game played with touch controls only like Phantom Hourglass or Spirit Tracks. It would probably be focused on small dungeons / levels, similar to the multiplayer titles.
Of course this would only be side game, but I would enjoy something like that on the go.
It's a secret to everybody! Official Zero Suit Samus of the Super Smash Bros. Ultimate Board.