iOS 13 (or later) lets you connect a Playstation controller to your iPhone via Bluetooth pairing.

The PS5 controller doesn't just work with the PS4, so you must pick up a Bluetooth adapter. This will usually come in the form of a USB device which needs to be plugged into the PS4. The adapter ...

Once your PS4 DualShock Controller appears under the My Devices section, you can proceed to customize the buttons on your iPad, as long as you're running on iPadOS 16.

You can connect a PS4 controller to your Android phone or tablet through the Android's Bluetooth menu.