Dualsense is by far the best controller I've used. The shape is good and allow me to play for many hours with no cramps, the buttons are firm and silent, the D-pad is precise (played Soul Calibur VI), the anologs have a nice shape and tension, the L1 and R1 are big and nice to press (used a lot in Demons Souls).
But it is when you play a true PS5 game that the controller shines. In Astro's you feel the great amplitude of the vibrations, from the small steps and drops of rain to big impacts on the controller; the speaker is better then on the Dualshock 4 and adds to the immersion. The Dualsense also have precise motion sensors and the touch pad is sensitive enough to write on it (test with Astro's). The adaptive triggers are amazing and you miss the effects when they are not present. In games like Control, WRC 9 and Destruction All Stars you feel much more connected to the character or vehicle.
Some might complain about the battery life (about 10 hours), but the truth is that the Dualsense probably has the biggest battery in any official controller; it's just that all the features consume more power.