Last month, Sony revealed the PlayStaiton 5's new controller, the DualSense. In addition to the features introduced in the DualShock 4, It features Advanced Haptic Feedback for rumble in place of the old twin mechanical motors. Adaptive Triggers that change in resistance depending on the action, and a built-in microphone, which Sony says is useful for instant voice chat online.
Back in October last year they pretty much had what you are asking for.
Combined with an improved speaker on the controller, the haptics can enable some astonishing effects. First, I play through a series of short demos, courtesy of the same Japan Studio team that designed PlayStation VR's Astro Bot Rescue Mission. In the most impressive, I ran a character through a platform level featuring a number of different surfaces, all of which gave distinct—and surprisingly immersive—tactile experiences. Sand felt slow and sloggy; mud felt slow and soggy. On ice, a high-frequency response made the thumbsticks really feel like my character was gliding. Jumping into a pool, I got a sense of the resistance of the water; on a wooden bridge, a bouncy sensation.
It should be there for launch :)
(And GT was also demoed with the controller in the same article)