The MSX, Sg-1000 and all its offshoots up to the game gear had pixel perfect collision in the TMS9918 hardware but it was a memory hog so most games just used hitboxes. One of the games notable for using the hardware collision was the shitty Alf game. Interestingly it was found that the Mega Drive for some reason treats the SMS left border as a sprite, which can cause glitches in backwards compatibility mode.