Athlon 64?
Haha no. Missed by 6 months IIRC.
Regardless, it depends on what you mean with "on time".
Zen may be "on time", but it's not like AMD set themselves up for any speed record on putting a new architecture out there.
Zen started its development in 2012.
Between 2012 and late 2016, ARM will have transitioned from Cortex A9 to Cortex A15, then mid-gen transition Cortex A12/A17, then major transition to ARMv8 with Cortex A57, then Cortex A72, then mid-gen transition Cortex A73.. and that's only in the high-end.
Intel did two "Tick-Tocks" and a half, practically 6 different CPU cores from Sandybridge to Kaby Lake.
Considering the rather small upgrades that the Bulldozer family got throughout the years, it's a bit hard to believe their blunt workforce was focused on that architecture.
They took roughly the same amount of time to make a new architecture as Intel and ARM. Intel and ARM release new architectures more often because they both have multiple design teams working on different projects in parallel, and also because they pipeline their teams, having the high-level design team move onto next design as soon as they pass their work for the lower-level teams. AMD does this too, but when you need to do a radical re-design we have to wait for the full 5 years before we see any results.