There's a mechanical tank simulator at the Swiss Military Museum that was built in the 1970s and used for actual service before being retired and becoming a museum piece:

https://www.youtube.com/watch?v=AcQifPHcMLE

The simulator has a simulated cockpit for the user, which controls an armature with a camera attached that is piloted around a miniature battlefield environment and provides a video feed to the cockpit. A "foot" on the armature senses terrain elevation changes, which are then supplied as movement feedback to the simulated tank cockpit. All of this was controlled by a 1970s mainframe, for which replacement parts were unavailable so it was replaced, in the museum exhibit, with a Raspberry Pi.

It looks like hardware emulation was NOT used; rather, they translated the original program from paper printouts to a modern programming language: https://www.raspberrypi.com/news/simulate-driving-a-1970s-ta...