PS2/PS3/Gamecube have complex architecture, so probably could just do 2D games
Saturn could run full speed I guess.
Dreamcast could run upscaled.
Emulation for 3D games have their full potential with upscaling. This overcomes the small problem you sometimes get with emulation (bug, latency, etc...)
If it's just to play Native Resolution, better play on original hardware...
PS1 have amazing game catalogue and even R3+ can run fell full speed with resolution enhancement. Better invest in SD Card Memory
As you use Pi3 this could be usefull also :
https://www.youtube.com/watch?v=Dr2KyPBDFXc