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I had a similar "controller disconnected" issue with my GT DD Pro base between races in GT7 and once it started acting up it would disconnect constantly. It was a faulty usb cable supplied with the wheel in my case - I changed it out for a USB-C > USB-C cable and plugged it into the USB-C port on the front of the PS5 and no issue since.It's with metal QR1, I did have the disconnect issue a few weeks ago where the connector disconnected and I lost gears, but not steering and pedals, mid race.
This time seems different, the disconnect happened when I wasn't actively using the wheel, during the short break between practice and race. It just seemed to have reverted to the usual state when you power it up and needs a press of the PS button to connect it to the PS5.
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