Thanks for playing!
Yeah, the controls are quite a brain twister and as much as I'd like to say that it's on purpose, a feeling of frustration is not what I was going for with this game. You're right it would be a trade-off if you had to swap between control modes, but perhaps I could make it with 3 control modes - two where you control each character, and one where you control them simultaneously. Or maybe to make it more interesting, you control them with the same keys in the third mode (although making puzzles for that would be very tricky).