I have found an incredibly easy solution for anyone who runs the game via 7th Heaven and uses Dualshock4 with DS4Windows. All you need is just to run DS4Windows as administrator. No any other software needed. And then just make a new profile and map for example WASD (or what the buttons you use in the game to walk) to your D-pad and that's it. You can even still use L-stick in the game to walk on fields as it is more comfortable, and navigate through menus/battle with D-pad.
Yet I advise you yo use keyboard to set up controls in game settings, because gamepad is kinda bugged there and the game for some reason thinks that [OK] is always pressed when you try to map something. Anyway default is the best layout, I just swapped X and O.