Using a keyboard effectively is all about rebinding the keys. 1 through 6 are decent to reach with your hand on the home row (depending on how long your fingers are), but 7 through = are a pain. I rebind A and D to strafe, then QERTYFGHZXCVBN to skills, along with 1-6. You can also add Alt, Ctrl, and Shift to get even more binds available all at once. If you use each modifier, and add WASD to the modified keys, that's 92 possible skills available all at once. Obviously, you can trim that down based on key combinations you find hard to reach.

Another option is to switch action bars as you go. By default, shift+1 through shift+0 switch your main action bar to bar 1 through 10, and shift+up/down cycle up and down through them. I find it easier to have a cycle button in easier reach when i do things this way, so I'll bind, say, H on action bar 1 with a macro to take me to bar 2, H on bar 2 to take me to bar 3, H on bar 3 to take me back to 1.

Yet another option is to set up one action bar to do nothing but switch to the other bars. So hotbar 10, e.g., would have nothing but macros to go to hotbar 1 on R, 2 on T, 3 on G, etc. Then the same slot on every other hotbar would be a macro to go to hotbar 10. So I'd hit, say R R to go to 1, R T to go to 2, R G to go to 3.

Whether any of that is more comfortable than a gamepad is in the hands of the beholder. Personally, I only use the gamepad when I'm gathering or something relatively low-key like that, but that's because I've already got the muscle memory investment in kb/m controls for combat and don't feel like developing it for a gamepad.