I get where you're coming from. I actually did make some major modifications to the controls shortly before launching the game that added support for just pushing the left stick/arrow keys to make the titans 'auto-walk'. I was hoping that would be the compromise that opened up the controls to everyone but watching more people play it seems like it still wasn't enough.
I'm interested in what you would consider to be the standard. I know there's not a ton of physics-based games out there so it's hard to find good precedents. Ultimately I wanted something that rewarded mastery in a satisfying way, without being nearly as frustrating as something like QWOP. I'm sorry to hear that even the tutorial was a barrier, since I added plenty of difficulty options to breeze through the game for anyone who got the basics down but struggled with the combat.
At this point I would try to include a friendlier control option but I'm not even sure what it would feel like, especially since I'd have to build it on top of my existing physics behaviours.