Full dive VR? Essentially, or at least on the conceptual level, the technologies that are critical to that already exists. The problem lies within integration of these technologies. We already have VR visuals, now getting much more mature in the form that's mass commercialized. We already have VR touch senses, but the domain is still very new, as you don't have a full body contact touch yet. But its good enough to actually feel the touches (but not accurately to the pressure) of certain materials. It could for example, let you feel playing a piano, but you can't feel the kind of material the piano is made of. We already have VR 'feedback', which is somewhat crude but it does exist in the form of training capsules for the fighter plane pilots, F1 drivers, etc (they give feedback on how your body will react in certain situations) We already have VR smell sense, it was already developed from the 2000s, but never really took off for some reason. These technologies exists in separate forms. Integrating that? That's one heck of a mammoth job.
https://authoritynutrition.com/artificial-sweeteners-blood-sugar-insulin/ So... It is still unknown how virtual stimuli would affect our body. Induce a sweet taste to your brain, how would you prevent it to cause imbalances within your hormone or something like that?
We already have a lot of technologies to make full dive VR. But you won't see it for over 100 years outside of the medical field. The difficulty is not in the technology but in making such a thing safe enough. The issue is sending signals to our brains which can have devastating consequences (long term brain damage, mind control, etc).
You are looking for what is called a Brain Machine Interface, or BMI's for short. They are the closest thing we have so far. From what I know BMI's only take care of the input issue and do not "talk" directly with your senses. I would say we have about 20-30 years before we have the tech AND the games developed to make it worth it. I would guess about 5-10 years before BMI's are fully functional in the medical field.