Here is a clear and comprehensive explanation of a new VoiceOver feature in iOS 13: remapping VoiceOver gestures. Do you have a command that you struggle physically to make? Do you want to replace a specific command with one that is easier and/or more efficient?
Tangela with Blind Bargains, wrote a wonderful post describing this new feature - how to change VoiceOver gestures - along with several of her favorite command changes that she uses. She takes readers step-by-step through the process of creating a new touch gesture.