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No, all characters can do it with the skill you get for having one hand empty.
Just keep an empty hand in your secondary weapon set and you're good to go.
Except your main character it seems. ;)
Hope his helps.
It actually toggles between two different armour sets, not main hand and off hand - but the second part of the sentence above is correct. So a character needs to have a free OH slot in one of his weapon sets.
But the main character doesn't appear to be able to use this skill for some reason. At least not near the beginning of the game (he can gain a relevant skill if he's of the right class).