For this glitch you need the "Topped Off" guardian rank perk and a shield equipped that is fully charged.
Step 1: Respec your character (screenshot your skill tree so you don't forget it)
Step 2: Come to the action skill menu and add 1 point into any ability, it doesn't matter which one you add it to.
Step 3: Respec yourself once again and repeat Step 2.
Step 4: Repeat Step 3 and do that process 10 or more times to get the glitch to work.
Step 5: Use your action skill and enjoy
This will stick for your entire session and you can change areas, watch cutscenes, drive vehicles etc and the glitch will stick but returning to the main menu or joining a friend means you'll need to repeat the glitch again but it's super easy so I'd say it's worth doing it every session. Thanks for the support everyone and make sure to leave any questions in the comments and I'll be sure to help you out