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I was having the same problems. For me the issue was that Steam was using Big Picture or whatever to intercept the Xbox One controller input and I guess the default/most popular controller layout is emulating a mouse. The game only sees mouse input, so no gamepad option is shown in the controls menu in-game.
To fix the drifting, go into Steam Big Picture mode, settings, controller settings, and select your Xbox One controller, then calibrate. It has a nice interface to see how much of a deadzone you really need.