This happens because the game detects multiple input devices and the anti-cheat system blocks the unrecognised devices; xbox controllers are recognised because the xbox controller has an authentication chip in it and the game knows exactly what device is plugged in.
All “third-party, non-authenticated controllers” are likely to appear if you repeatedly plug and unplug the controller after entering the game.
The only way to recover from this is to restart your computer (you can also try restarting the game after completely shutting down the game process).
Also, plug in the controller before starting the game, and try to avoid plugging and unplugging the controller after starting the game.