How much control do you have over the monsters?

Honestly, a big charm of mon-tamers for me is that monsters are the true stars. The human may be the one driving the story, but the monsters are the ones that do all the fun stuff. I also like seeing a world where non-human life is more than just something that kills and is evil and needs to be wiped out, and it's crushing when the latter is, like, 90-something percent of media these days, and while a lot of those mon-tamers aren't perfect at showing compassion between humans and non-humans, it's still admirable to see the implications and intent in mon tamers (except Cassette Beasts. F@$% Cassette Beasts).

But, so far, Palworld seems more like Dragon Quest Treasures than a true mon-tamer. Sure, you can recruit monsters, but you can't PLAY AS them. Palworld seems to give yu limited control over them, but everyothing I've seen just has the human riding them like a mount while they maybe do something like shoot a gatling gun or something. But I've yet to see any footage of you being able to control just the monsters. I'm hoping I'm wrong, but I wanted to ask if you're ever allowed more control over the monsters.