Back in phase 3 it was possible to do this, which was a real boon for healers. You could keep your L2 or R2 crossbar toggled, and then use the d-pad to cycle between party members SO LONG as you kept the up and down arrow slows blank.

I know someone who would desperately like to return to this style. Can someone walk me through the steps to configure this, if it is still possible somehow?

Thanks in advance.