For which emulator/real hardware games were,are then and now easier to make Sega Saturn or Sega Drea

I want to know in which Sega game console game development was easier during hardware limitations era circa Anno Domini of years from 1995-1996/1997 to 1999-2001 Sega Saturn or Sega Dreamcast? Sonic R,Sonic Adventure 1 & 2 had emblems in late 90's of XX century and early 01's of XXI century. Which Sega hardware provided better game development tools? In which game Engines Sega Saturn and Sega Dreamcast were made? You know nowadays it's time dilation bringing back that first low poly 3d graphics cartoony aesthetics due to nostalgic trip to the past.

 

Yeah especially fisheye Lens Effect 360 camera visual disortion. Sonic Jam was unfinished and rushed up I guess. I think Sonic Twist, Super Mario 64,Crash Bandicoot,Banjo-Kazooie,Bubsy 3D, Earthworm Jim 3D, Rayman 2,Jazz Jackrabbit 3D...etc. Besides Nintendo PlayStation (unreleased hardware),Atari Jaguar 2(unreleased hardware),Sega Earth (Laserdisc hardware redesign of Sega,Mega CD) there was also Sega 32X besides Sega Neptune,Sega Pluto,Sega Blackbelt also unreleased hardwares that were never finished in the past. Christina Coffin and Chris Senn were both suffering and struggling with pneumonia. Michael Kosaka argued with Dean Lester. He left Sega Technical Institute probably in 1996 when company was closed. MOTHER 3, Duke Nukem Forever were games in Nintendo and 3D Realms went through development hell. Sonic-16 was cancelled because Yuji Naka as former head of Sonic Team (before Takashi Iizuka replaced him) didn't like gameplay. Also he didn't allow STI to use NiGHTS Into Dreams game Engine in 1997 or 1996 threating that he will leave Sonic Team. According to Mike Wallis Sonic X-Treme had game development problem issues due to fact Sega of America CEO Tom Kalinske left Sega by being replaced by Bernie Stolar. In 1997 Sega ported at least Sega Genesis/Mega Drive isometric 3d platformer that was released on Sega Saturn and also on PC named Sonic 3D Blast Flickies Island on Sega Game Gear it was just Sonic Blast. Nintendo 64 Disk Drive was unfinished. Nintendo and Sony never partnershiped before like it was originally intended. SNES CD was also unreleased hardware add-on for Super Nintendo Entertainment System. So which Sega Saturn or Sega Dreamcast game development tools should I use?