the game was cool, my only problem was the fight system, damn, i understand that it's consistent with the story, but it's so fucking annoying the system of controlling the ally every turn to make different things, but that's my only problem, the rest of the game was cool 7/10
Have you tried the "Remember Boneka Command" in the option menu? It will make the game put your ally to your last Boneka command (except support and guard).
If you're talking about reapplying Full Control every battle, I can only say I have something in mind but it require to advance the story, so yeah it's not available as of now.
Thank you for your feedback!