The best controllers are probably the console controllers ; Xbox, PlayStation, or Switch. Personally, I use the Wii U Pro controller because I own one from having a Wii U. I also have a Steam controller from when they had that sale. Most of the time I use the Wii U Pro controller, but I find the Steam controller works great in BOTW for its gyro aiming. If you want gyroscope controls like the Steam controller has, then it's the Switch Pro or PlayStation controller.