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Well... the trick to that is to just set the bar up so the same buttons are in the same place in both modes. There is no option to turn the bar switching off because far too many elements of the game depend on it.
So, while you're in a safe place out of combat, write down which buttons are in which spot on the bar, then shift to stealth mode and place the same buttons in the same place.
Keep in mind, of course, there are some buttons you can't use while stealthed and others you cannot use while not in stealth (which is why the bars work as they do)
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