As strange as it may sound, my favorite controller so far has been my Google Stadia controller. It feels very sturdy and has a nice finish - and I can hold it for hours without my hands cramping up.
Also a big fan of the fact that it charges over USB-C, and that it works perfectly for me over both Bluetooth and wired.
However, I haven’t had too many controllers in the past (Nintendo’s controllers - GameCube, Wii, Switch Joycon/Pro, the Xbox 360/One, and the DualShock 3), so that could be part of it. I don’t know, I just haven’t had any complaints with it as of yet.