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About the second bug. I played that part last night and it worked. But I was confused at first, I believe the interact icon is out of screen if you have not zoomed all the way out. Try holding A/X and moving the left stick towards the cliff and you should be able to interact with it.
 
As a workaround for the first bug you could try to switch formation(In the L2 radial menu) back and forth once when this occurs.