Haptics with PulseAudio does not seem to be working properly, so using
Pipewire as a backend is recommended (and picked by default, if
available via an SDL hint).
This should enable support for more controllers besides the DS4 and
DualSense, basically any controller supported by SDL that has at least
one touchpad, an accelerometer and a gyroscope.
Older SDL versions have been tested down to 2.0.9. Versions older than
2.0.14 won't have sensors and touchpad support, though.
Setsu is deprecated and remains in-tree for now, but defaults to being
disabled if SDL2 is found and >= 2.0.14. If Setsu is enabled explicitly,
touchpad and sensors are not handled by SDL.