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After you finish on PC you can either disconnec it via Steam or us the BT icon on taskbar or notification Quick actions. Personally I don't have BT on my taskbar and use the Quick actions BT switch.
Once disconnected from PC turn PS on/plug it in and they you can turn DS4 on and it'll connect to PS4.
I couldn't be bothered with all that myself. I just inserted a pin in the back of the DS4 to reset it. The connected it to either the PS4 or PC. Never both. I'm only playing one game with the controller anyway so don't need it connected to both at the same time.
Thanks, much appreciated.