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https://steamcommunity.com/app/270880/discussions/0/1480982971179620062/
This was not always the case.
Unchecked the two checkboxes at the top of the Properties page (for Steam Overlay and for Theater Mode When SteamVR...) and all is right with the world again...
Oculus Link - gave me the 'loading trucksim' with the halftone truck icon, but never loaded - if I viewed the desktop from OLink Dashboard, I could see ATS on the desktop.
Oculus AirLink - same thing.
Virtual Desktop - Loaded to the Desktop version, and when I launched SteamVR from Virtual Desktop, I got Steam Theater Mode.
ALXR - Effectively the same thing as Virtual Desktop, but without the intermediate Virtual Desktop...Desktop. It just launched into AMTruckSim in Steam Theater.
Unchecking the box in Properties resolved the "Theater Mode" issue in all test cases I tried,..the checkbox seems to have been checked by default at some point in the last 12 months or so.
so (given that this is the top Search Result in May 2023) - that's *probably* the solution, no matter which headset you have.