Left half of bar 3 is normally not in use. 

Menu > Character Configuration > Hotbar Settings > Custom > Enable expanded controls with L2+R2

Set both L2>R2 and R2>L2 to "Cross Hotbar 3 - Right"

Also Enable WXHB with Simultaneous L2 and R2 double tap. Set L2 double tap to "Crossbar Hotbar 2 - Left" and R2 double tap to "Cross Hotbar 2 - Right"

While holding L2 or R2 down, and tap L1 or R1 to cycle targets for Crossbar 2 (double tap R2).

Crossbar 1 and 2 mirror Sen Gauge layout

Crossbar 4 and 5 is an alternate layout for Crossbar 1 and 3 for the main combo attack to help remember which one is flank (Square) and and rear (Triangle).

SAM All around use

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Left half of bar 3 is normally not in use.

Menu > Character Configuration > Hotbar Settings > Custom > Enable expanded controls with L2+R2

Set both L2>R2 and R2>L2 to "Cross Hotbar 3 - Right"

Also Enable WXHB with Simultaneous L2 and R2 double tap. Set L2 double tap to "Crossbar Hotbar 2 - Left" and R2 double tap to "Cross Hotbar 2 - Right"

While holding L2 or R2 down, and tap L1 or R1 to cycle targets for Crossbar 2.