Yes, unfortunately it has to be done each time. Annoyingly it doesn’t work as it’s being taken off the dock, so I have to turn it back off then hold B and turn on again.

I’ve been lucky that Steam maps the controller to just about everything I play. I see where switching modes all the time would get irritating quickly.

I have the same controller. With newer firmware, if you hold B while turning it on, it starts in D-Input mode instead of X-Input or Switch. That should enable analog triggers and gyro at the same time.