PS4 controller IMO if you need gyro and rumble. Otherwise an Xbox 360 controller or PS3 controller, maybe a Switch Pro controller (with gyro and rumble). I don't recommend an Xbox One controller because the triggers break pretty easily. Haven't tried the PS5 controller.
Or a Steam controller if you can actually find one.
I feel like I didn't actually explain my preference in my post, so here it goes: I personally find that the PS4 controller is a godsend for emulators. Not only that it has gyro support for Wii, Wii U, and Switch, but also the D-pad isn't trash for older games. I play a lot of GBA and NDS games and the PS4 controller is just amazing. Not to mention that any current game supports PS4 controllers.
I use a PS3 controller with the Magic-NS dongle. I’d like to upgrade to the Xbox one series x controller. The PS3 controller has that familiar layout that I’ve always loved and the d-pad is very nice. It’s just an old squeaky controller that feels like it’s age.
One would assume that the best controller for PC games would be something that has Bluetooth support, long lasting battery usage, and comfortable grip. However, I wish to dash those so called "needed" features, as all you really need is a controller that you never need to recharge, a comfortable grip, and also the capabilities to talk to your team at any moment without having to put down the controller and then switching over to another peripheral all together. Do you lack extra buttons for Select, Thumbstick presses, and a second bumper? Yes, but honestly depending on what game you may not even need them~
I use a wired XBox360 controller on my PC and love it, especially the triggers. The Switch Pro Controller is good too ( it has better face buttons than the x360 one and can work over Bluetooth) but the triggers aren't analogue, so that's a downside. Both have a very comfortable grip. I'm flirting with the 8bitdo Pro 2 and maybe would look into getting a PS4 controller if the money falls into my lap, but for now I'm quite happy with the two I've got.
I would say PS4 with DS4Windows software. I never used an Xbox that much so I am biased but most games seem to work well with it; I would say there might be some issue with games that were supposed to use a "weirder" controller like GameCube games but I would probably go for some custom controller or something in that case.
Currently using a 360 controller, but only because my ps4 controller broke. The only issues you come in to with the ps4 controller is that sometimes, the game doesn['t support it natively, so you have to jump though a few extra hoops.
For PC games I'd say that the 360 controller served me very well, big for my hands and had a good layout alongside.
Unfortunately it was only for a brief time as it broke down once I lended it to a friend
(although it was 5 years old at that point and he was taking very good care of it).
I'd say that for PC games maybe I'd get the Series X controller as I prefer the layout a bit more compared to PlayStation.
As I'd rather use mouse & keyboard to supplement gyro for FPS games as well.
However when considering emulation then as a general contended between the 2 the DS5 is the winner, it has gyro, touchpad
with a good general layout for both 2-D dpad games and 3D ones as well (even if I prefer it less to Xbox).