actually, when it comes to Sega, Sonic's the only one of the three that was actually created in house by them.
I can barely even classify Bayo and Joker as full on "sega reps"
Bayonetta was developed by Platinum Games, and the more recent games were almost exclusively published by Nintendo. Sega just happens to own the IP
As for Joker, He's moreso an Atlus rep, and Persona 5 was in development before Sega's acquisition of the company in 2013. Heck, the fact that Atlus is in the character copyright means they had to go through them, and not Sega themselves to actually use Joker.