Been thinking about how to make the controls less clunky. The main things were the weapons being on the dpad, and warp being on triangle. To understand the problem, try to move the left stick and change weapons at the same time, or move the right stick and warp at the same time.
The following is what I've come up with so far that fixes the above issues. The tradeoff is that you lose one manual weapon. You do get an option to use magic via shortcut menu though. The option to use magic via weapon slots is still available. (And devs can always implement auto-weapon switching for specific actions like guarding, point-warping, etc., to provide access to even more weapons during a battle.)
Improved Control Scheme:
Triangle: Switch and Attack with Weapon 1
Square: Switch and Attack with Weapon 2
Circle: Switch and Attack with Weapon 3
Cross: Jump
Cross (Hold): Use Summons (Context Sensitive)
L1: Guard
L1 (Hold): Shortcut button for magic (L1+X=Fire, L1+O=Blizzard, etc.)
R1: Warp
L2: Cycle through available targets while locked on
R2: Cycle through available targets while locked on
L2+R2: Engage or disengage target lock
L3: Sprint
R3: Hide/Show soft-locks OR use for whatever
dpad Up: Party Attack - Gladio
dpad Left: Party Attack - Ignis
dpad Right: Party Attack - Prompto
dpad Down: Party Attack - Guest