The
Magic-S is awesome and easily works well for both Switch and PS4 (and I think PS3 and PC). No software necessary. I used one with a Wii U Pro Controller for a while before picking up a Switch Pro Controller. I’ve since gone through 2 Switch Pro Controllers which have begun to drift (with pretty light play time too). The Wii U Pro Controller is still going strong. Unfortunately, pretty much all Nintendo Branded Switch controllers have serious quality issues.
Otherwise, anything from
8bitdo is pretty great—particularly the
SN30 Pro+. We are far from the days of the crappy 3rd party controller (not to say they don’t exist).