>6DOF gyro
A gyroscope is used to detect orientation/angular velocity (spinning), the sensor to add the other degrees of freedom is already there in most modern controllers and smartphones (the accelerometer). The issue is still accuracy I'm afraid.
>Do you need to rotate the yaw of your hand? Nope.
I'd certainly enjoy to open doors and make a simple goodbye gesture in VR.
Adding 3 additional axises change nothing. Nintendo didn’t do it because it’s very niche to require that. It costs pennie’s more to get a 6DOF gyro vs a 3DOF. The question is the need. Do you need to rotate the yaw of your hand? Nope.
So my statements stand. The VR folks seem to be on a “we’re more superior than thou” kick with gyro controls.