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Controllers from Logitech, Razer, Sony (DS4), Microsoft (360/XBO), Nintendo (Switch) for example.
The cheaper XBO controllers from PDP and PowerA also work fine.
Also, uncheck the ps4 and Xbox boxes in Steam bpm and enable the Generic box only. Then restart steam client
Only other solution I can think of is: if I unplug and then reconnect the joystick (once Steam is closed) it recognises it properly again. It's hardly ideal, but is there any way to "force" this without physically unplugging and re-connecting the stick?