I do own Sonic R PC and 3D Blast PC, but I'd like to try the Saturn ports as they have features my versions lack, such as the translucency effect in Radient Emerald and the fog in Rusty Ruin. The special stages in the Saturn port of Flickies Island are also a little more complex than the ones on PC, though the PC ones are still fun. There's also Burning Rangers, which I never played and only even heard of thanks to a throwaway song in Sonic Pinball Party and a track in Sonic and Sega All Stars Racing Transformed.

But yeah, it is a nightmare to emulate and the programming was all over the place. I tried daemon tools like Lucumo suggested recently with SSF but it still didn't work right. I think the problem there is that it's partially because all my roms come in two images. and daemon tools is picky about mounting certain image types like bin files. I'd personally rather get a real Saturn and some games for it that I can simply put in my PC as well to emulate from the drive, but it's hard to find and I wouldn't know how to maintain it. (my Xbox room also needs some space for a Dreamcast if I can find one and as much as I want both, I may have to pick one) That might work and I have recently found out the way to get it to run, using this video https://www.youtube.com/watch?v=wDo-YphC254 but the new problem I had with Medafen was that it says the ROM files are too big, even one that is only 3 kilobytes. (the only saturn roms I have right now are Sonic R and 3D Blast)

Have you tried just using the core in Retroarch? I've never seen that error before (in Retroarch) and it's much easier to use than what I just saw in that video.

From what I heard, years ago, SSF was the best emulator overall. I don't know if it's still the case.
You just need something like Daemon Tools to mount your images and you're good to go.