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Never used controllers in my life, not my cup of tea really. Is the game ejoyable using the keyboard?
Arrows keys, WASD, etc.
Mouse Steering, Mouse accelerate/brake, and so on.
You have plenty of choice.
A controller, as mentioned above me, is still very suggested over a keyboard.
The game supports a wide variety of them (as far they declare PC support):
These are the ones we personally tested: wiki.beamng.com/Controller_support
But there are much more that would also work.
'Don't know about wheels, but a 360 controller'll work. It's just plug and play.