Nagato (healthy) is RIDICULOUSLY powerful. Imagine 10 Nagato clones, all with shared vision, and the ability to use the power of each Path. Nagato (healthy)'s team wins against almost anyone (if the ratio of fighters in both teams is 1:1). With his chakra reserves, I wouldnt be surprised if he outlasted Hashirama and Minato tbh.
EMS Madara + Kyuubi < Hashirama ------JUST
Nagato (healthy) >> Minato ----(Im a Minato fan, not fanboy)
Nagato (healthy) > Hashirama.
Hashirama takes out Kyuubi + Madara, and becomes very tired.
Nagato (healthy) takes Minato with high difficulty, but easier than Hashirama taking Madara + Kyuubi.
Than Nagato (healthy) beats an incredibly tired Hashirama around before dealing the final blow.