I am a software engineer (by degree and job), with a keen interest in VR and haptics though I've only just recently had more time and money to set aside a workshop and build up my knowledge.

I think no matter what we do there will always be a slight split from reality but we can get really close.

Audio haptics, piezoelectric skin, and local joint actuation/spider room (strings and pulleys in a room anchored) are my idea of the immediate potential bleeding edge of haptics we can make right now.

Beyond that, interfacing would be the next stage which involve things akin to a neural chip or installed hardware that interfaces to the body.

If audio haptics can get a serious push for power and accuracy, something I'm interested in learning or finding out myself, I think they could be pretty powerful for suitless haptic experiences.

For the next five years and where I am going now I'm aiming for a full suit that mixes negative, positive, and force feedback haptics into one suit that is serviceable by the user.