There are two important viewpoints here the Nazi leadership and the German people. The Nazi leaders had racists views and wanted to extinguish the Jews. The German people wanted lebens raum living room in Russia.
Had the Germans developed nuclear weapons sooner they might have succeeded. The Germans had Heisenberg on their nuclear team and rocket technology. The Japanese were working on bio-weapons. Had these technologies developed further and faster the inevitability of the Wests' win could have disappeared.
Hitler and Japanese mistakes doomed their hopes and aspirations. US industrial might prevailed in out-supplying the Axis forces. Authoritarian fascist regimes could not match western science and productivity.