No, the character that initiated the interaction is always the one to do the skill checks. Only way to swap characters after a fail is to reload a save pre skill check.
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I think it's a travesty you can switch characters in dialogue but it doesn't actually do anything except prevent you from selecting the dialogue options until you switch back. It's extremely frustrating when the conversation was started by just walking into an area because sometimes it starts it with a character I wasn't even controlling.
Yeah especially if you are just scouting with a character that has low charisma or your fighter had to kick in a door.
You should be able to choose who takes the initiative by default in talks if it's possible
What OP wants would be even better but probably impossible to solve without it resulting in awkward dialogues if you can switch the talking character each sentence
It is sometimes possible to leave a conversation or scene. We’ve done this before and had another character jump in to run the skill check.