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Trouble with AI on this is it will scrape data from non-PF2 sources, plus "AI confirmation" should never be a thing, rather the inverse, AI speculation followed by confirmation (like you're attempting here, kudos). In previous editions a Druid could change forms while in another form, often at the use of another daily use, and in media (like in the recent movie) the Druid shifts constantly (though w/o spells so she's really not a Druid, but a Shifter of some sort). So the trope is out there, but is it in PF2? Not that I see.
Second thing is that a lack of allowance won't have a citation; reading Untamed Form shows this lack w/o explicitly saying "one and only one". It has "...transforming your body into another form." So singular and that's it. No sign you can keep transforming into other form or re-choose. The rest of the language expands the options for that form. Form Control uses similar language of being in another form (singular) for an extended duration.
And then once you're in a Battle Form you can't cast Untamed Form again (being a spell, not simply an ability) so you'd have to revert back before casting again (w/ a second Focus Point). Exception is Anthropomorphic Form and any others that might pop up that don't transform you into a Battle Form. Another exception is True Shapeshifter (20th!) which does give the ability to change into another form on your list.
So yeah, at 20th...
Ancestries with a non-spell ability to polymorph themselves might be able to finesse their way around "returning to a humanoid shape first" though it'd likely cost the same in terms of actions/Focus Points and require a moment in an inferior shape. So seldom useful, but maybe if disguised or other overly specific situation.
