that video on mario 64 invisible walls is incredibly impressive but also I feel like the sheer amount of "for some reason"s and "this game is soooo glitchy and buggy" comments in the video are going to do a lot of work disguising the fact that every single one of these optimizations are probably the only reason ANY of that shit runs on the n64 hardware to begin with
experienced gamedevs didn't take these shortcuts for fun, they likely were under signifiant time pressure, under a shifting technical landscape, and trying to optimize for complex collision on a processor whose clock speed is significantly outdone by any post-2007 graphing calculator
the fact that by and large ONLY speedrunners see these issues is frankly a real testament to how well they did