Maybe I missunderstood your problem(if so sorry). You can press numbers 1,2 or 3 to choose Infantry, Archers and Cavalry. For example, you press 1 which is infantry then you see all the F-Key options which is F1-F7(though you motly only use F1-F3). If you press the wrong F-key then you can just press number 1 again and it resets the F-key menu without making any commands other then selecting selecting infantry again ofcourse. So it makes it quite easy to just reset and go for what you wanted first and after some mistakes at first you will quickly remember which button leads where. Unless you want to be super duper commander that shouts out all kind of formations and orders every 15 seconds in the middle of a fight to min-max his troops you will do fine remembering the few that you often need to use in important situations like F1+F3=Charge, F1-F1=Go to this position and F1-F2= Follow Me. The other commands most players only use at the beginning of a battle or when you have some time to take some extra seconds to navigate to them.
Maybe you only wanted a something you could print out so you could study it. But I figured this make it a little bit easier for you to incase you didn't know about.
Found this from a gaming site, I haven't checked if they are all correct but I believe so
F1: Movement
- F1: To position
- F2: Follow Me
- F3: Charge
- F4: Advance
- F5: Fallback
- F6: Stop
- F7: Retreat
- F9: Return
- F2: Facing
- F1: Face direction
- F2: Face enemy
- F9: Return
- F3: Form
- F1: Line
- F2: Shield wall
- F3: Loose
- F4: Circle
- F5: Square
- F6: Skein
- F7: Column
- F8: Scatter
- F9: Return
- F4: Fire
- Clicking it toggles between “Fire at will” and “Hold fire”.
- F5: Horse
- Clicking it toggles between having your troops mount and dismounting their horses.
- F6: Command
- Clicking it toggles between delegating your command to your troop’s AI where they decide the best course of action, and listening to your commands.
- F7: Transfer
- Clicking it breaks down where you want to transfer specific units on the battlefield. For example, you could want to transfer all mounted troops to a particular location, and then transfer all ranged troops behind them. You can better break them out and have diverse troops everywhere.