Actually there are more types of 'addresses' than legacy and segwit.
P2PKH (starting with 1..), P2SH (starting with 3.. (multisignature)), P2WSH nested in P2SH (nested segwit, starting with 3..) and bech32 ('native' segwit; startin with bc1..).
The nano s supports P2SH/P2WSH. Thats definetely better than P2PKH addresses but not as efficient as bech32.
based on criteria of segregated witness (segwit) adoption, we can separate them to two types: legacy and segwit
P2SH is considered as legacy address and P2SH-wrapped segwit as segwit address
P2SH-wrapped segwit is backwards compatible with the legacy P2SH address format
while native segwit (bech32) is non-backwards compatible format
While it is true what you are saying, i have to partly disagree.
Anarc Senior was refering to the ledger nano s' types to choose from an address format: P2PKH (called 'legacy' by ledger) or nested P2SH (called 'segwit' by ledger).
While it is not wrong to call them legacy and segwit, the types of addresses are P2PKH and P2SH.
Additionally you can't tell for sure whether a P2SH address is 1) multisignature or 2) nested segwit until the UTXO's are spend and the redeem script is revealed.