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If that doesn't work, just get a X-Box 360 or X-Box One controller. Will work right out of the box.
https://www.gamespot.com/articles/sonic-mania-pcs-drm-angers-players-sega-adds-offli/1100-6452993/
On the subject of the controller, there are some controllers Steam won't recognize without needing work put into making it more compatible. Wii remote and Nunchuk is one I've seen like that.
https://steamcommunity.com/sharedfiles/filedetails/?id=1165768235
Worth mentioning, Steam tends to have keyboard set to a default binding, but you can apply a controller template to it. You may have to reapply the bindings from time to time.
Edit: Problem fixed. In Steam Settings > Controller > "Obsługa konfiguracji standardowego kontrolera" (Use configuration of normal controller)