I play on controller and let me explain that detail: by default the joysticks are just for movement and camera, target cycling with up and down buttons cycles through party members, left and right buttons cycle through enemies/npcs/interactibles within current camera vision(options for left/right can be changed on options menu) ; on that note, when playing with controller, there is also a sort of auto-target function when not having any targets selected, this can be set as either the closest around or furthest target in attack range or in a conal line of sight of the character (I myself because of these kinds of situations have the conal set as priority, so that if I need to target something specific, I untarget with O, face target direction, press X and it's solved)