While technically an emulator, x360ce installs a universal driver wrapper. You place the .exe in your game folder, and it tricks Windows 10 into thinking your old joystick is an Xbox 360 gamepad.
If Windows doesn't pick it up automatically, force it: Universal Joystick Driver For Windows 10
VJoy is the gold standard for a software-based universal solution. It creates a virtual joystick in Windows 10. You then use a feeder application (like Joystick Gremlin or FreePIE) to read your physical device and map it to the virtual one. While technically an emulator, x360ce installs a universal