Under character configuration there is a toggle for gamepad mode / keyboard mode on the top left corner of the window. Make sure it is in gamepad mode so that the cross-hotbar is displayed. Then click the hotbar settings (4th button down) and check display on all the horizontal/vertical bars that you want.

You can move these around where you want them and change the size of them in the HUD layout mode. Then it's just a matter of mapping them how you want in the keybind settings.