I have found the cause so far that the touchpad MSFT0001: 00 04F3: 3140
is recognized, but no suitable driver is found.

With the touchpad ELAN0001: 00 04F3: 3140 it seems to work with a few tricks.
ELAN is also available in the kernel config, but MSFT is not.

I just don't understand why there are two different names (ELAN and
MFST) under the same hardware ID - what did Lenovo do?

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https://bugs.launchpad.net/bugs/1887190

Title:
  MSFT Touchpad not working on Lenovo Legion-5 15ARH05

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