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Okay I think I sorted it out, just gotta leave the free-aim alone so it still aims ahead and up, and hit and hold right trigger and y right after letting go of a grapple point to hit the next one. It works, but it's still a horribly and needlessly clumsy solution for something pretty much every other game with this feature solved 20 years ago with one button press.

Thankfully, not enough to scuttle an otherwise excellent game.