Technology Will Save Us, from a brighter past, produced the Arcade Coder as their swan song. It had 12×12 tactile buttons with color leds inside, a companion app to program it with scratch like code blocks, and interactive tutorials. It's ESP32 based.
There's an effort to continue it's life, ast the app was on the app store for a brief time. https://github.com/padraigfl/twsu-arcade-coder-esp32
A physical control changes position and stays in that position so you can feel it to know if your turn signal is on for example.
Real button changes position when you press it.
Haptic button is flat surface with vibrating motor inside that buzzes so it "feels" like a click. Like in a smartphone.
The ones I have seen have a lag, so you don't immediately know if your button press was registered or not.