Controller lost of skill slot only to interact - mercenary not shooting

can never interact if a mob is close even if you stop shooting to see the highlighted interaction button it will start attacking
a mob... only solution I found was to bind the interaction icon to n other slot so I can interact but you always have to stop shooting to interact or it won't work ....that shouldn't be the case , so I loose one slot and one slot to roll I mean either roll shouldn't take up a skill slot or have the option to put the roll on a joystick push or something it's like I only have 4 slots for my first bar without having to hold LB to chose my second skill that would feel comfortable to put the roll there or interaction button...

Also allot of times the mercenary seems to not be shooting or stops after a reload...have to press multiple times for him to get the message , I'm like why aren't you shooting..., I've tried switching the targeting modes but still having issues in both mode not shooting it's like the aimbot targeting system sometimes targets something that it can't shoot or I don't know...but it's annoying.