G4 is now at least 15 years old. If it won't run in compatibility mode, time to upgrade.
They have just recently stopped shipping 9.5 on disks, and have gone to downloading from Steam.
If Win11 shows your controller as a working Joystick/Game Controller in Devices, you can continue to use it. Any USB game controller can be used (or Transmitters that have either a usb output or a usb "dongle" if made for that brand). But most think that the latest one from RF is a good upgrade, also.
Radeon video cards in the 6000 model series level and above will NOT run it, due to dropping DX9 support. Those in the 5000's and below will work, but you have to find an old version of the drivers.
All NVidia cards continue to work with it, currently.
Unknown about other built-in video on some laptops, which is usually pretty poor for usage even if it does allow it to run.