I suppose allowing a character to 2-handed draw out a weapon a bit much? We do play it correctly that shifting grips during combat with a bastard sword is an action, but am I cheating it too much on the draw?
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No, being able to draw directly into a 2 handed grip is correct.
Drawing a 2-handed weapon is the same action as drawing a 1-handed weapon, so there's no reason drawing a 2-hand weapon into the 2-hand grip should be an extra action.
As long as they have their hands free at the start or do a free drop of items to free up their hands. (Or freed their hands otherwise by throwing their prior weapon, for instance)
Agreed. The switch grip action to get the second hand *back*on a weapon is to differentiate a 1 handed weapon user getting to use combat maneuvers and go right back to striking vs a 2h weapon user. The 2h weapons all do better damage, so they pay the action cost (or more likely, leave the maneuvers to the 1h characters).