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The fix was to disable System Integrity Protection, and then go through Steam and update the gamepad driver again. The installer still says it failed, but after approving in system preferences and rebooting, it works fine. The controller works perfectly and the gamepad driver message goes away.
https://developer.apple.com/support/kernel-extensions
update: after installing beta 6 (which was released to the public beta a few days ago) it seems to be working as intended. I would like to re-enable SIP if possible so I'll probably do that at some point but my controller is working with Steam games again for now.
The install was more or less concurrent with a Steam beta client update. I can't say for certain which one caused the fix.
I'm scared ♥♥♥♥♥♥♥♥ that Steam won't support steam input for mac in the future and that I'll lose the way 'm used to playing games.
I'm just stepping in because I have the same problem, exactly as described by Potassium Ion. I tried disabling SIP but the issue is still there.
Actually, I have observed a very intriguing situation. SIP is enabled:
Repeating the installation with SIP disabled does not make the authorization request to pop-up and the loop repeats.
I have contacted Steam support and they just told me to watch for beta releases where maybe they would try to solve this issue. To me, it is still unsolved.
Bye.