(The following applies on PC - I’m not sure about consoles) - I frequently do this as well - there is a quicker option than exiting the inventory screen, de-equipping , then trying again - instead while in the inventory screen select the item in the hotbar (that is equipped) and drag it to the inventory (or to directly swap with the item you want to move onto the hotbar. So long as you drag from the hotbar to the inventory (not from the inventory to the hotbar) it works fine. Still moderately annoying, but at least you don’t have to keep exiting the inventory to de-equip.

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