Recommend a floating GENERAL Toolbar similar to the Quick Access Toolbar utilizing small icons only.
The difference for this toolbar would be to include using any command regardless of applicability to the current session. If the current session cannot use a command in the toolbar, the icon is grayed out rather than removed.
This toolbar would not require editing for each mode such as one configuration for assemblies and another for drawings.
The fact that the toolbar remains "constant" would make picking commands much easier than the dynamic toolbars currently provided.
In addition, the toolbar would be easier to manage as it would remain constant regardless of application.
Personally, I could see an entire strip of small icons all the way across the screen anchored just above the message line(s).
As a bonus; if the current tab is on "annotation" and you pick a "modeling" command on the GENERAL Toolbar, the ribbon would switch to the Modeling tab and open the command picked on the GENERAL toolbar.