Nintendo might be more innovative, but Sony especially with the Dualsense implements their Innovations much better. 3D audio trough the controller, haptics both trigger and controller and the touchpad are actually well utilised in many games.
Ever since the Switch lite launched most of the interesting things about the Joy-Cons died. Haptic feedback is barely used anymore and the Switch lite can't Switch so that also made sure the more interesting aspects of the joy con aren't used anymore.
Eyetoy did motion controls before the Wii did. The PS3 also introduced the gyro sixthaxis and it's still utilised in games to this day.
Please excuse my (probally) poor grammar







