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If you haven't, just open up Big Picture mode, go to settings, then Controller Settings, and check the box next to "Switch Pro Configuration Support". Exit out of Big Picture mode (the configuration will be saved and carry over to the desktop version of Steam as well), launch Subnautica and then go to the game's options and select "XBox 360" for the controller button layout and you should be good to go.
I ended up installing it on bootcamp, where even there I went through a lot of frustration with the input misbehaving before something happened and it started to work.
https://forums.unknownworlds.com/discussion/144276/controller-not-working-on-mac