You need to learn to selectively choose your battles. If you draw your sword manually before stepping into combat range, Geralt does
not automatically sheathe it afterward, and it gives you time to Quen yourself and prepare runes, potions, bombs, oils, etc. The fact that he
does automatically draw the correct sword when you're surprised is
extremely nice . . . but I always try to be one step ahead of the enemies and fight them on my terms. Witcher sense helps with this. Trust me, the game is way more fun when you choose your battles.
ast486: It would definitely be better if the game just taught us to manually sheath.
You didn't get the tutorial message that tells you how to sheathe your sword using the C button? (Or whatever your control scheme is.)