There are quite a few public servers that have bridges implemented. Sadly the official server list does not say which of them has bridges but just check the websites of some and pick one you like.
I had the same behaviour, I played everything with mouse and keyboard. Dead Cells, Assassins Creed, Sekiro, Dark Souls, etc. Then with Elden Ring I gave the controller a try just to see how it is, and it worked flawlessly. I think it is just about with what you to a game first.
Started Thymesia. Feels a bit less polished than other Soulslikes but still enjoyable.