I’m OK with how it is right now – easily but not immediately accessible.
The “rotation” would be a very difficult manoeuvre on the battlefield – just holding formation requires considerable training and cooperation – so I don’t mind waiting for my bros to gather some experience under their belts before they can utilise it.
As for bandits using it I think it’s a good idea as they become pushovers in a hurry, so the more tricks they have the less boring battling them becomes. I just wish AI exercised more common sense because right not it often does them more harm than good.
I must say I find the idea of some characters having access to pre-selected perks from the start intriguing, though I’d much rather see that as having a background-specific special.