I beat Baldur's Gate 1 and played a significant chunk of 2 on the Switch. That game plays pretty well with a controller, though I think you should go into the AI settings and turn off everything except the script that makes thieves automatically check for traps when you're not moving. Otherwise you have to just switch to the thief and turn that on manually and run around with the thief for a bit.
I also played a chunk of Pillars of Eternity on Xbox Game Pass at some point. Again, I think that game is solid proof that RTWP can work on a controller quite well. The only caveat with this one is that you should click the right analog stick whenever combat starts so that you unlock the camera from the character - this way, the camera doesn't swing all over the place whenever you switch characters. Also sadly, you cannot import your POE1 save into POE2 on console, and the console versions of both games run very poorly on last gen hardware. If you must play on last gen hardware, rotate three saves and nothing more - having a lot of saves slows down the game even more (side note - when I played POE1 on PC and made a new save every time, the game also started experiencing weird issues much later on, so that's not a console exclusive bit of advice). Current gen hardware works fine for both. As someone who played a few dozen hours of POE2 in turn-based mode, I think the turn-based works fine but I eventually came to dislike its insistence on making casters wait a turn or two before their spell goes off.
Both of the above games assign R1 to switching to the next character and L1 to go to the previous one and push them both at the same time to pick all of them. This is intuitive and fast. Unfortunately, Pathfinder: Kingmaker makes you hold a button to pull up a menu to switch characters, which is just clunky in a way I didn't like. Fortunately, that game has a dedicated turn-based mode that I think works very well with a controller, and everything else about Kingmaker's controller UI is great as well, and there's no reason to think Wrath of the Righteous will change things up all that much.
Divinity: Original Sin 1 and 2 and Wasteland 3 are the real winners of the "CRPG with a controller" question, though. They were designed from the ground up as turn-based games, which are by nature easier to play with a controller. Wasteland 3 and DOS 2 launched with controller support so they were designed with a controller in mind as well.
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