Yes, it's possible. Years ago I played with an xbox controller. You just had to bind the original keyboard keys to your controller with a certain software tool. In Win7 there was even a setting to do so, but I can't remember, it's been a long time... But look for a solution, you will find one for sure. You may bind the W key to gas pedal and S to brake, then you can drive through the world on your horse on the most immersive way.
PS: as far as I remember, mouse clicks were the most difficult to bind to a controller key. But just for pedals, you're good to go I guess.
i would be glad if u would remember this tool, i like playing by pad more than keybord and mouse
ps: any update about servers?