Go into the “Source-based installation” menu within the RetroPie Setup Script and select only “C) Configure video, rewind, and keyboard for RetroArch”.
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Having a set of controller files from the previous step, you can easily auto-generate an updated version of the input configuration files by selecting “Update input configuration of Emulation Station” from within the “Setup” menu of the RetroPie Setup Script.
Connect only the USB controller to the RPi that you would like to register and select “Register controller for RetroArch emulator”. There, you can find a new menu entry “Register controller for RetroArch emulator”. In the RetroPie Setup Script, choose “Setup”.