ArchMechasis: You need to edit both config files. That is if you also want to change all the prompts, like interacting with things, to a different button than F.

These are the files:
UserSettings.json in the folder C:/Users/%USERNAME%/AppData/Local/CD Projekt RED/Cyberpunk 2077 (replace %USERNAME% with your Windows username)
inputUserMappings.xml in the folder C:/Games/Cyberpunk 2077/r6/config (or wherever you installed the game)

The UserSettings.json file is for all in-game bindable keys. Here you can make sure your ESDF keys are bound properly, including F which refuses to bind in-game. Same deal if you want arrow keys, or something else that refuses to bind in-game.

The InputUserMappings.xml file hosts all keybinds. That includes functions that can't be bound in-game at all, like interact prompts.
Open in Notepad. Use Ctrl+F to search for the key you want to replace "F" interact prompts with. In my case I want Q to be interact, so I search for "IK_Q". Replace all instances with different buttons, in my case IK_W (W), as it should be free.
Then look for all instances of "IK_F". There are dozens of these. Replace them with your interact key of choice, in this case "IK_Q" for Q.
Note that you don't have to do any functions that already have a "overridableUI" value. These are all bindable in-game and controlled from the UserSettings.json file. So might as well ignore them here.

The game now properly has ESDF movement while responding to Q for interact and other prompts. Interesting to note: now Q does not rebind in-game, but it's fine as the binds are good now. Obviously you can also do the same for arrow keys and a different interact button.

Note that the inputUserMappings.XML file in the game folder may be quite likely to be replaced on updates. And there's hundreds of hardcoded binds with no bind options in-game.

This may take a while for them to fix.

Blee_Blee: holster/draw weapons was default binded to ALT, I changed to W key. You need to modify UserSettings.json file
it is like this for me now :
"name": "switchItem",
"type": "name",
"value": "IK_W",
"default_value": "IK_Alt"

I can use W to switch weapons, double W to hostler

Korpen81: Yeah both F and R are hardcoded. So i can change to the arrow keys replacing WASD using notepad but FRIGGGIN F and R keys are hardcoded and doesnt exist so in game i need to reach out far away using my 3rd arm i somehow have and push 2 buttons to either grab enemies and/or take up stuff!!!! They should have playtested this long ago!

Sholva: I know the feeling, in these cases one of my usual workarounds is to remap via mouse software these keys to mouse side or extra buttons. Not sure if all software works in this game, I use a Razer mouse with the much hated Synapse, and it lets me remap F and R to side buttons, which then work as intended in game.

As a left handed player, remapping is in my DNA, been doing it for decades, but this game truly needs a rework for its keybindings menu, to allow more flexibility, because I've been doing some modifications to the .xml config file too, as suggested in this thread, and those will probably get reverted in updates (so I also did back up these files, just in case, both original and modified ones).

I mean, the Witcher 3 also had some trouble with hardcoded keys but it wasn't as severe, I could play that game since day one with my very, very left handed arrow keys, del-end-pgdn and numpad keys setup, no problems. And it also had a "walk" key, which CP 2077 doesn't, haha :P (they'are aware of this one too, I read on their twitter).

MojoVersion8: I cannot rebind move forward from W to the up arrow key, it just says "binding failed".
As a lefty I cannot play this game with WASD so this is ridiculous.

Possibly a bug though since I can rebind accelerate to up arrow.

Korpen81: Yeah both F and R are hardcoded. So i can change to the arrow keys replacing WASD using notepad but FRIGGGIN F and R keys are hardcoded and doesnt exist so in game i need to reach out far away using my 3rd arm i somehow have and push 2 buttons to either grab enemies and/or take up stuff!!!! They should have playtested this long ago!

Sholva: I know the feeling, in these cases one of my usual workarounds is to remap via mouse software these keys to mouse side or extra buttons. Not sure if all software works in this game, I use a Razer mouse with the much hated Synapse, and it lets me remap F and R to side buttons, which then work as intended in game.

As a left handed player, remapping is in my DNA, been doing it for decades, but this game truly needs a rework for its keybindings menu, to allow more flexibility, because I've been doing some modifications to the .xml config file too, as suggested in this thread, and those will probably get reverted in updates (so I also did back up these files, just in case, both original and modified ones).

I mean, the Witcher 3 also had some trouble with hardcoded keys but it wasn't as severe, I could play that game since day one with my very, very left handed arrow keys, del-end-pgdn and numpad keys setup, no problems. And it also had a "walk" key, which CP 2077 doesn't, haha :P (they'are aware of this one too, I read on their twitter).

zero_koop: This really sucks. Why does everyone forget about left-handed people? WE DON'T PLAY GAMES WITH WASD! Guess I'll have to use a gamepad until they fix this.