No. Routinely, no. Sometimes, yes. Two warriors fighting will usually be both attacking anddefending with their 'fighting' abilities. Look at most of the warrior keywords - they don't have defensive abilities.
But there are times when swapping abilities for each action will be the most practical way to run a contest - a berserk attacking a CA healer, for example, could be done as the berserks actions uses their fighting ability vs the CAs defensive ability (possible Restrain Patient, or something like Dodge), and then the CAs actions might be to use their Calm Berserk feat against the berserks resistance.
In either case the edge/handicap applied will depend on basically the winner of the exchange (with armour being a special case).
Cheers David
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