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I always have the haptics though, so I'm not sure what the issue is. Very frustrating having to constantly manage the dual stage.
It should not happen. Just disable steam input. The dualsense controller is supported natively in Returnal you don't need additional software for it to work.
I don't have steam input enabled in general and have it explicitly ignored in the returnal properties as well. I don't lose the PS icons but I lose the dual stage triggers like the poster above does.
Never happened to me so can't advice much here. Could also try to update firmware. See if the problem occurs in other games even if everything worked before – this would indicate poterial hardware issue.
I just got the controller yesterday before I played Returnal and updated to the latest firmware. I think it working and then stopping mid game is indicative of a software bug. I have had it stop working after unpausing the game or picking up a new weapon.