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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. Plug in the gamepad you want to configure and unplug others
4. Start Steam Big-Picture Mode, go to settings and configure your gamepad
5. Open ~/.local/share/Steam/config/config.vdf
6. Search for "SDL_GamepadBind" "CONFIG"
7. Copy the part marked as CONFIG
8. Paste it in the abovementioned command as a replacement for LINE
9. Optional: For every gamepad continue at 3.
10. Run the file and have fun playing together! :)