There are a few workarounds. PC Gamer and Tom's Hardware have some tutorials, like input mapper etc. It's the Bluetooth that holds it back, Xbox is signal based.
You can get some wired Ps4 'like' controllers for PC, but they often lack the quality.
input mapper. i know xbox one is plug and play. as weird as it may sound, i have never used a keyboard for destiny 2 (i don't even know what the controls are), I 've been using xbox controller since day one