Presumably you'd just have to bind some keys to select the individual tubes. I don't understand what you mean by "manually" select tubes. Pressing W to cycle or clicking on the GUI or anything else is a "manual" action. The game never reads your mind or changes tubes without some direct user input.
On my game (and stock) I have W set to cycle tubes which is plenty fast for me.
[Cmd323]
Name=Cycle_torp_tube
Ctxt=1
Key0=0x57,,"W"
If I want to open 3 tubes ready to fire then I'd press Q, W, Q, W, Q, W, W, W, W, W, W, W, W. Then to fire it would be "Fire", W, "Fire", W, "Fire."
The game auto-closes the tubes after you've fired.
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