The Lex Friedman podcast with J. Carmack goes over all the major innovations in every game, really interesting episode, strongly advised if you have time (roughly 5 hours long)
https://www.youtube.com/watch?v=I845O57ZSy4
i would also recommend another two of his interviews:
Todd Howard https://www.youtube.com/watch?v=H9AAnV59ddE
Guido van Rossun https://www.youtube.com/watch?v=-DVyjdw4t9I