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So it's pretty easy to make the Steam Big Picture method work using two gamepads. Here is how:

1. Open a file NAME.sh and replace NAME with the name of your game
2. Paste the following code and replace COMMAND with the command to start the game:

export SDL_GAMECONTROLLERCONFIG="LINE LINE" COMMAND

3. Configure Gamepad in Steam Big-Picture Mode
4. Open ~/.local/share/Steam/config/config.vdf
5. Search for "SDL_GamepadBind" "CONFIG"
6. Copy the part marked as CONFIG
7. Paste it in the following command as a replacement for LINE
8. Start at 1. for every gamepad
9. Run the file and have fun playing together! :)