If dealing with the pet hasnt been your thing, then id say do the class quest at level 10 asap. This unlocks the "armory" system, which is how you change classes. If ninja seems cool, head over to the rogue guild and join up. Try it for a few levels and see how it feels. Ninja is a melee DPS class but they also have a good amount of support and utility style skills. Or if you want to try another flavor of magic, Thaumaturge(grows into Black Mage) casts big hard hitting spells without having to interact with a pet.

As for paladin(or either other tank), you dont really "plan the battle". Ideally, you pull the mob groups, get all the enemies attention, and hold them there while the group wipes them out. You are usually leading the way, but the planning portion is in how you use your defensive skills to survive, and how you set up the bosses(some you want to fight in the middle, some on the edge of their space, some you start in one place and later need to move). Its not the easiest role(DPS is clearly easiest - stand there and fire away while dodging the odd attack), but new people pick it up all the time and do just fine. Dont be intimidated.

And i know its been mentioned, but the game has multiple controller setups and you can find one that makes any class play easily enough.