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When running on a touchscreen, the (self-explanatory) controls are visible on-screen, and the assumption is that neither a keyboard nor a touchpad is available. So, hide the instructions in that case. If the player does have one or more joypads connected to their touchscreen device, they'll figure it out.
There is no change notification for DisplayServer.is_touchscreen_available(). One might expect that its value could change: for example, only one of the screens currently connected to my computer. In fact, there are only 4 implementations:
So, it is safe to just check it once when the scene loads.