yes there is a way..you need to use software such as https://ryochan7.github.io/ds4windows-site/#home (free) or rewasd.com (paid)
Well, I was able to assign relative moves to joystick with rewasd.com. However, it looks like the main problem is that I need two cursors: one would be used for relative moves of character and the other for attacking/aiming. I am still investigating shift options in rewasd.com, but my prognosis is negative so far. This is something Blizzard needs to add and given lack of enthusiasm from gaming community it will probably never happen.