Gear changing from 1st to 2nd and so on

Is there a way to change gears from R, 1, 2, 3, 4 and 5 ect Or is it just locked to R, 1, 1+ and A
I may have posted questions in wrong place so reasking here, thank you

@rennurdum Only if you have an h-pattern shifter with your wheel.
Keybord and controller users are stuck with the 1, R, +1 & A.

@BlueBirde ok thank you very much for your help, much appreciated o7