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I just figured out how to full attack while flying (without falling). Despite the post's title, it's not weird at all. It's surprisingly mundane.
A Hit-and-Run Soldier's 5th level ability, Nimble Fusillade, states the following:
When you make a full attack, you can also either take a guarded step or move up to half your speed. This movement can come before, between, or after your attacks, but it can’t be split up.
Correct me if I am wrong, but the additional movement from Nimble Fusillade should negate the need to spend a move/swift action to hover. The required guarded step might be slightly annoying, but it will usually be worth it to full attack without falling out of the sky.
I have not seen anything about this posted to the boards yet, so forgive me if this method is common knowledge. It is new to me. And it opens up a few possibilities. I was primarily looking for a way to keep a barathu PC in the air, because I can't stand their land speed of zero. I also think that a Hit-and-Run Dragonkin Soldier would be really powerful at level 5+.
Does this work? Has anybody seen a flying hit-and-run soldier at their table before?