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I haven't tried Sega games on Switch (and I believe some were available on Wii before that?). But I have also played some of my old games on PC emulators. "Save state" / "load state" is indeed very handy. Keyboard mappings is an inferior experience to a real controller, but meh, you get used to it.
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If it's important to you, you can get authentic reproduction controllers that work with the Switch or an emulator:

https://www.nintendo.com/us/store/products/sega-genesis-cont...

https://shop.8bitdo.com/products/8bitdo-m30-wireless-gamepad...

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