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Have you disabled the Speakers (DualSense Wireless Controller) audio device in your Windows sound settings by any chance? I think that may be the cause of you not getting haptic feedback if Steam Input is disabled.
I’ve tested it just now and got haptic feedback with the DualSense being natively controlled by the game with Steam Input disabled and the audio device being enabled.
Also you might want to download the official PlayStation Accessories app (formally called Firmware updater for DualSense wireless controller) from Sony to update your DualSense firmware if you haven’t already unless you already have a PS5.