I always felt like Goldeneye introduced it, Halo fine tuned it, and COD perfected it
CoD didn't perfect it, it was just another evolutionary step. Some modern shooters did however perfect it since...
while CoD actually fell behind,
somewhere along the way CoD went downhill for some reason.
starting around the Modern Warfare reboot they introduced extremely noticeable aim acceleration which can not be disabled.
they always had a small amount of aim acceleration even back in CoD4 and Modern Warfare 2, but in recent games it became way more noticeable and intrusive.
where now even Fortnite, which started out with absolutely horrible aiming controls, has way better stick aiming than CoD
Apex Legends, Xdefiant and several other shooters these days did actually perfect it by offering deep customisation for every aspect of aiming.
from custom reaction curves, to bonus speed settings, and acceleration settings (for the masochists that actually turn it on)