Not really in real life special forces, paratroopers and, airborne Calvert all train so that each person knows the job of the others and can step in if something goes wrong.
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But they don't have to fumble around with menus to get to something they need. With Destiny I have a 10-15 second gap of being teleported or not to change my weapon/armor setup if it isn't set for that situation already. That 10-15 seconds can make or break the team inside the Time Gate.
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The best way to deal with this is to plan for everything. Go with weapon setups that will let you do both it is better to have to go through the portals a few more times