I have to disagree. You can watch YouTube videos of FPGA vs RetroArch run-ahead. Even if it is almost as responsive on RetroArch, it's missing certain frames of the jump (or sword swinging) animation.the software emulation might take a little more attention to detail and focus to get that exact moment your pressing a button feeling but it is possible.
Again this is on milliseconds level and if tuned to the best like you did you wouldn't really notice while playing.
Btw the best software approach imho is ReplayOS on the Rasp.





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