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In the SA2 folder, rename Launcher to LauncherOld, and sonic2app to Launcher. This will bypass the launcher entirely, and you will now enter the game directly from Steam.
Still in the SA2 folder, open the Config folder, then open Keyboard.cfg in a Notepad application. Change InputWay=0 to InputWay=1, and put Vibrate=1 if you want vibration.
Everything should now work, as long as you've already configured your PS4 controller to work in Steam (ie, it works in other games)
Optional: If you use the mod loader and mods, bypassing the launcher this way will make the "Save and Play" button not work. To fix this, right click on a mod you know you'll always use (like Cutscene Revamp or something), select Open Folder, open the mod.ini in a Notepad application, and add this code to the bottom of it:
EXEFile=Launcher.exe