All FPS controller-based controls are inferior to keyboard+mouse. It just depends on how much hampering you can tolerate. People who played Doom on PC and adapted to Goldeneye were already making an alt control scheme work (although technically you could use 2 controllers to get a similar layout to Halo controls) because the game was good enough to warrant it at the time.

Of course the Halo twin stick controls were/are superior to the weird N64 controller, but none of them have "decent" controls once you're used to m+kb. I even played a bit of Goldeneye 20 years after release and had fun with it--muscle memory kicked in and it was fine.

007 Goldeneye N64 did have (surprisingly modern) dual stick control layouts ... but it required 2 controllers. Of course it was ruined by how shitty the stock N64 controller was, never-mind having to hold one in each hand.

Here's a video of someone playing with the "2.2 Galore" control style

Time Splitters

I don't think this is controversial. Halo is the first game that managed an actually useful but still subtle aim assist that allowed playing a shooter with an analog controller to actually feel good.

Oh yeah??? I'd like to see my sister slap me to death until I cry on Halo!

Using the c buttons to aim was super clunky

Halo was not the first fps with good dual analog controls, just one of the first that was as popular as Halo was.

You didn't really make much of a case for those genres not evolving drastically, but kind of just went on a rant about Zelda games for a minute. Starting with Mario, there have been plenty of full 3D platformers out there. Crash Bandicoot, Spyro, Jak and Daxter, Ratchet and Clank just to name a few. Arguably the genre as a whole has fallen out of favor, but even so there has never been a shortage of games in the genre, at least some of which would introduce their own unique mechanics and innovations.

And Zelda? Are you one of those people who actually think Ocarina of Time has aged well? There has been plenty of others, such as Alundra, Elemental Gimmick Gear, Darksiders, Psychonauts, Beyond Good and Evil, and Okami. Speaking of evolution specifically, while Metroid is primarily credited as creating the "metroidvania" subgenre, it has to be noted that Metroid itself was directly influenced by Zelda and the subgenre as a whole is really just sidescrolling Zelda clones. But the advent of that subgenre is one such example of one of the directions the genre as a whole has evolved.

In terms of modern games, I would argue Star Wars Fallen Order, and Survivor, have both scratched more of the Zelda-style itch than Zelda games have in years.

And this isn't even getting into all the indie games out there. CrossCode is both a stellar action rpg as well as having distinct Zelda-like puzzle elements. A Hat in Time seems to have gotten relatively popular for a 3D platformer. Apparently Spongebob games keep being churned out. Celeste. Yoku's Island Express. Yooka-Laylee. Sonic games keep coming out. LittleBigPlanet. It Takes Two. Neon White. The Rayman series.

It's so easy to think of examples of games that have refined or pushed the envelope in those genres in many ways, since Mario 64, and OoT came out. All of these genres have become much more since then.