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But I can empathize with your BFF. After I was gifted a steering wheel in 2021 for some work that I did, I can't exactly go back to any other form of controls on ATS. (And I resented having to go back to a controller for awhile in Autobahn Police Simulator 3 in 2022.)
You are precisely right. You have control of pitch, roll, and yaw and have the ability to thrust forwards and backwards along the orientation of the roll axis- sometimes known as 4DF (or 4DoF) for "Four Dimensions of Freedom." So a steering wheel and gas/brake pedals would not be sufficient, but a stick and throttle would work if either the stick could "twist" or you had a pair of pedals for yaw control.
Thank you for stating the facts.
I doubt that I'll have a gaming yoke and pedals anytime soon... Unless I can get one in that part of the ghetto where you can get anything for $20!
At least it does have controller support for those who don't like keyboard/mouse arrangements. And the k/m controls are actually pretty decent once you've learned how they react and made any adjustments to sliders and/or pitch inversions that suit your personal style. Certainly handles better than CP2077 cars did on launch day. ;p