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There is a program called DS4 Windows which supports both DS4 and DS5 controllers which allows you to see the current battery life once the app is configured properly. If you prefer the simplicity of Steam's own built-in controller input that app may only be useful for you to check the battery life.
Firmware Updater for Duelsense Wireless Controller also shows you whether the controller is fully charged or in the middle of charging but with no percentages on life remaining. A bit buggy that app though. Fine for controller firmware updates mediocre for accurate battery readings.