It is turn based and no, you can't attack whenever you want.

While your waiting for the move to recharge the enemy attacks you, then you attack him, etc. For Xenoblade Chronicles 2 on the Nintendo Switch, a GameFAQs message board topic titled "If you enjoy Xenoblade combat, what do you think of the combat for FF7 Remake?

A realm made up of a huge cloud sea filled with beasts called Titans that humanity lives on top of. Although there are issues, Xenoblade Chronicles 2 deserves to be lauded due … Xenoblade Chronicles 2, known in Japan as Xenoblade 2 (Japanese: ゼノブレイド2, Zenobureido Tsū), is a role-playing video game published by Nintendo and developed by Monolith Soft for the Nintendo Switch.
It's not like Kingdom Hearts where you can attack whenever you want. If you have both, depends on if you like turn based vs action based, but I’d recommend DQXI before XC2. r/Xenoblade_Chronicles: This community is for fans of the Xenoblade JRPG game series (Xenoblade Chronicles, Xenoblade Chronicles X and Xenoblade …

Xenoblade Chronicles 2 is set within the world of Alrest. Every move has a cooldown time which you need to wait to deplete before using the move again.

". It may seem like you can because the fights have a fast pace but you can't. If you have a Switch, XC2.

The game was announced during the Nintendo Switch …

Both are great though.
At the center of Alrest is the World Tree and at its summit, the land of Elysium. JRPGs, especially turn based ones, are typically thought of as a fairly stagnant genre, but Xenoblade turns the norm on its head through its extremely unique battle and progression systems. You directly control Rex and Pyra (as well as any other Blades you unlock), and the rest of your party behaves on their own (with you issuing orders when you want them to perform special attacks). It’s somewhere in the middle playing more like Final Fantasy XII.

Xenoblade Chronicles 2 isn’t a traditionally turn-based affair, nor is it a button-mashing action RPG.

Xenoblade Chronicles 2 is an open world action role-playing game developed by Monolith Soft and published by Nintendo for the Nintendo Switch video game console. If you have a PS4, DQXI.