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In which case, you can't just use the executable. You'll have to add the Epic Launcher as the non-Steam game and kind of do it that way.
That's the best you can do.
Unsurprisingly, I guess Epic don't want you to do stuff like this. As for the controller, that should have nothing to do with Steam. I'd be surprised if the PC version of GTA V has no controller support - whatever platform it's from.
Blame Epic that you can't directly launch the game as non-Steam.