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Using Big Picture Mode (or other third-party programs) is currently the only way to get DS4 controllers working on Mania right now.
Turns out you don't need Big Picture mode running.
But you do need to set the controller in Steam's settings now, and I only know how to do that in Big Picture mode. Once it's setup then you can leave BP mode closed.
1. In Big Piicture mode, go to Settings -> Controller Settings. Set it to your DS4.
2. Still in Big Picture mode, go to Library -> Sonic Mania -> Manage Game.
3. Make sure the controller appears in Controller Options, and is set up in Controller Configuration.
4. Exit Big Picture.
5. Go to your library in Steam Desktop. Select Sonic Mania -> Properties.
6. Make sure "Enable the Steam Overlay while in game" is ticked.
That should do it, letting you use the controller without BP mode.
Note that I don't use DS4 Windows now. (Also in Minecraft, that config tool in Big Picture actually replaces the need for a controller mod I used to use.)
Those steps might not be exactly right but the correct steps are somewhere in there.
No luck.
I then ticked "Hide DS4 Contorller" in DS4Windows and launched the game. That did the trick. It works!
I then unselected both controllers from big picture mode, undoing all the steps from above. It still works!
My solution: "Hide DS4 Controller" must be TICKED when playing Sonic Mania.
I'm still annoyed as this setting requires admin privs to be granted each time I connect my controller, and thus I will only tick it when I'm playing Sonic Mania which is tedious.
I did also test the outdated copy I have (before the Encore mode update) and it worked no problem without having to do anything. SEGA must have screwed something up between the main release and the Encore version. Such a shame they ruined what previously worked just fine.
This negates the need to click Hide DS4 Controller!