I have a Switch controller and I just try it right now, without third party drivers Destiny does not recognize the controller. I just try with cable and Bluetooth but none of them works. The only way to make it work is with the keyboard profile.
The gamepad work without any issue on steam and in almost any other gamepad compatible game on the same computer.
I suppose that the video was recorded with a thirdparty drivers installed, but as I say I do not think is the best solution, for example with with any xinput emulator driver you will loose the motion sensor and also the screenshot and home button but for the whole system, not just for destiny.
EDIT: In the video the home button have the light turned on. This is because he had installed betterjoy and the vigembus driver, but this way the controller will work as an Xinput controller and you will loose the Gyro and 2 buttons system-wide until you uninstall the driver.
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