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Over Bluetooth, PS4/5 controllers will be functioning in one of two modes. When first connected it'll be operating as a basic gamepad, compatible with DirectInput. I've seen it called 'simple mode', 'PC mode'.
Steam, some games, some other software like DS4Windows can switch the controller into it's other mode. Here the full functions of the controller are available (lightbar, rumble, touchpad tracking, on the DS5 the mute button), but this mode is incompatible with DirectInput. I've seen this mode referred to as "extended/enhanced report mode", "advanced mode", "PS mode". To get back to simple mode the controller has to be power cycled.
So looks like Disco Elysium is reading the controller via DirectInput and so wants simple mode, but Steam has switched it to advanced to set the colour. Here's one game demo that natively supports the advanced mode of the PS controller . It sets it's own lightbar colour though (the game is using Rewired so I believe the devs can set which colour, if they care to).
For games that have native PS4 controller support + PS prompts, one solution is to use DS4Windows to emulate a wired PS4 controller. You get to set the lightbar, the game sees a PS controller and shows the PS prompts.
If you want lightbar control and don't mind Xbox prompts in nearly all cases (there are some games that'll ask Steam what controller you're using and so show PS prompts), then enabling Steam Input is one avenue you can use.
So in the end there's no workaround if I wanna use bluetooth connected (not wired) gamepad and see PS prompts? Well, good to know what all of this is about at least, thank you.
But perhaps you meant a workaround with only Steam involved? For that, no workaround to achieve prompts, BT + lightbar control. Maybe one day they implement PS controller emulation...