I honestly still don't see why people are whining so much about the targeting with a gamepad.

If you're support use Targeting Mode A (up/down = party, left/right = all)

If you're killing things use Targeting Mode B set on Enemy. Worst that will happen is you'll have to hit left or right an extra time if it doesn't immediately target the engaged enemy.

If you go back and forth then use Targeting Mode B and switch between Party and Enemy.

The only thing I could see needing a touch up is prioritizing the engaged enemy group when using the Enemy setting.