Buy 105o capacitors unless you absoltely know that 85 is OK (which you don't).
Usually, you use the same capacitance (uF / nF / pF) as the originals. Don't second-guess the original engineers on this one.
Buy caps with the same or higher voltage rating as the originals. For example, if you are replacing a 100 uF 35 V cap, and you have a 100 uF 50 V one on hand, you can use that. Higher voltage is usually higher cost, so you won't necessarily buy the 50 V one (unless you are buying them in bulk anyway, making them cheaper). Also, higher voltage will be bigger. Maybe taller, maybe fatter, maybe both.
Note the size of the originals and buy similar sized replacements. Caps of the same ratings will range from short and fat to tall and skinny, but you need something that will fit. For very small ones, if the leads are not spaced exactly the same, you can just bend them. Bigger ones have thick leads and will often sit too high off the board if you try bending them to fit, so buy replacements with the right lead spacing to begin with.
For ESR, if you know the cap is used in a switching power supply (not likely for NES) then choose a low ESR cap designed for switching power supplies. Otherwise, any good brand will do and will likely have lower/better ESR than the originals. I buy Panasonic FC or Nichicon VX as good generic electrolytics.