I've created a mod that let's your Pals use more than just 3 active skills!
After the success of my previous Recover Pal Spheres mod, I've now created a new mod Unlimited Active Skills which allows your pals to use their entire movesets in combat and not just the normal 3 equipped active skills.
It supports summoned/companion pals, base/raid pals. rideable Pals and Pal Army. You can even choose exactly what attack you want to use while riding, whereas with summoned Pals the Pal's AI will have the entire moveset to choose from, ensuring you have no downtime while fighting!
You can download it from Nexus Mods or the Steam Workshop.