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When I connect it with usb, Steam detects it and it works as expected in Steam Big Picture.

When I connect it with bluetooth, only the touchpad works and acts as a mouse. If I then use ds4drv with xpad profile then Steam detects it as an XBOX 360 controller and I can play.

Is it possible to skip the ds4drv workaround?

Thanks

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The answer is given here: PS4 controller is not recognised by Steam - 18.04

It worked for me:

sudo apt install steam-devices

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