The LEGO Technic 42100 Liebherr R 9800 and the 42099 X-Treme Off-Roader both have their dedicated control app called Control+. Although the app offers a lot of exciting possibilities it cannot be customized and some people (like) me prefer physical control over a touchscreen. The great BrickController 2 app solves this issue, you can use a gamepad that is compatible with your phone and control the LEGO vehicles!
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Controlling PF IR, SBrick, BuWizz & Powered Up with a single app and a game controller – BrickController 2
Let me show you the app that I use for most of my LEGO RC stuff – the great BrickController 2 created by Istvan Murvai.