Request: Any video or written guides on Tanking/Healing END GAME using only Gamepad?

[Ri_ri]

If you only have 2 bars that have skills on them, tapping R1 will toggle between them

Not necessarily.

Character Settings -> Hotbar Settings -> Cross -> Set Selection. Check enable customization (including when weapon is drawn) and check only hotbars 1 and 2, then you can put skills on more bars without it toggling past the second.

I use the third hotbar for things like Summons, buffs and stances. It'll only enable if I press R1 + X.