> this could have been prevented by simply not changing things at the last minute
I don’t think this is true, though. The main change is that more people voted via mail. That isn’t a last minute thing. More people want to vote by mail this year, and many states allowed them to already. The problem is that states just aren’t used to processing this many mail ballots. One could argue that there weren’t enough last minute changes! For example, if PA had made a last minute change to begin processing mail ballots earlier than Tuesday, then they’d have finished much more quickly.
> didn’t anyone foresee that this will call into question the legitimacy of the election
In my opinion, the only reason we’re seeing so many people question it is because Trump has been baselessly claiming for months that the election would be stolen from him and that mail in voting is fraudulent. So yes, everyone was aware that Trump would call its legitimacy into question, but I haven’t seen a shred of evidence for it. In fact, two of his lawsuits were thrown out because there was no evidence onto back up his claims.
And to be completely fair, Biden hasn’t called the election, he just said that the path to victory seems clear. And that much is very obvious, since Biden does have more options for winning than trump does at this point, just because Trump’s only path to victory is by winning every state left, and Biden only needs one or two.