For general, modern use? DS5. The haptics and speaker and force feedback are often nice on PS5, the gyro and touchpad are great on PC. A little heavy and the battery is bullshit. Buttons and dpad are just 'pretty nice', but they aren't atrophied like in some modern controllers. They get a lot of real estate. It's totally acceptable for 2d games.
But that's just for general use. A really beautiful controller is the genesis 6-button. 6 face buttons was a world we could have lived in. Not that we deserve it.
The Dreamcast controller is one of the nastiest things ever packed in a box. The vmu was amazing but functionally as a controller it was god awful. I hate it and as always, Dreamcast deserved to die; suck it.
I think the standard genesis controller is underrated. It has a very distinct feel with the buttons and dpad having all that float. The straight layout on those big buttons. And it was a real ergonomic step up from an nes. And when you threw one, the buttons pop out.
Saturn jp pad is overrated. Sorry. It's not a nice pad and a great classic
-style shape, but the l,r,x,y,z buttons are not so hot. The shoulders because the switches are weakly sprung and have very little travel. They feel like they are worn out. The top ros of face buttons because the have an unpleasant shape. Small and too sharply domed.
If I'm playing retro I'm always doing it on real hardware so I get to use all those. I have a dual sense each for the pc and the PS5. I have a switch pro, which is quite nice, that is used for a tablet. The tablet with intel integrated graphics that is a far better portable than a switch.
Besides the awful, terrible, but fixable situation with the dpad, switch pro has a lot going for it. I especially like that the triggers aren't analog. Unfortunately, sometimes you need that. It's rare, when you think about it. I should use it more because I can see this winning me over from the dual sense for PC use.