No matter what I tried, I couldn't get XBOX One and XBOX One S controller working on RetroPie 4.1 (and on 3.8) running on Raspberry Pie 1 Model B.
However, when I tried the same thing on Raspberry Pie 3 Model B, it worked like charm. It worked both for XBOX One and XBOX One S controllers. But I had issues connecting XBOX One S controller via Bluetooth; which I need to research further.
With this experience of mine, I believe we can safely assume that Raspberry Pie 1 Model B is somehow incapable of pairing with XBOX One and XBOX One S controllers.
Thanks,