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I don't think the game is intended to feel like you are in a walking robot, but more like a car with a turret (we call those "Tanks" ;) ). How you want to play is up to you, but if you find yourself getting frustrated in normal control mode doing things like losing track of where you're pointing, walking into barriers, or trying to turn your torso and realising you're at your limit already, then you're just experiencing the same as everyone else. Even if you practice all day every day, you can't expect to have the same level of control as what you're expecting to have in this game.
If you wanted to try normal control mode again, I would approach battles cautiously and tactically. Again, whatever anyone else says here, you do you. The only purpose of playing a game is fun.