RPCS3 has been great a while now, played Ninja Gaiden and finished Demon's Souls with no issues a while back.
I wish Xbox emulation was as good. I just wanna play Orta but XEMU has performance issues and some annoying graphical glitches and while CXBX seems much better, if not nearly flaweless, that's only with the experimental multithreading support on which means instability and frequent crashing.
A lot of the ones you mentioned dont have playable status because they drop to the 20s fps in some scenes. Aside from that, they are usually pretty playable.
Has always been the case for emulators. We still dont have a proper Sega Saturn emulator.
We've had proper Sega Saturn emulators for at least a decade, SSF and recently Mednafen/Beetle have been near flawless with just specific games having real issues (so basically on par with any system without its unwarranted "bad emulation" reputation, like PlayStation, if a tad more demanding).
It's a bit trickier if you want to enhance the visuals with high resolution and what not as the emulators with such options, Yabause forks and Kronos, aren't as advanced, but they keep improving too (plus to most cultured folks such old games look better at native settings with CRT shaders anyway).
PS2 emulation with all its hype is in a far lesser state than Saturn, with many more game specific issues, yet it doesn't have that bad a reputation just because people have been posting sweet high resolution screenshots for many years now. Dreamcast has been ace with Flycast and Redream.