It was short notice:- Published on July 8, 2013. Are RockStar testing our response time?
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Some reports say that you can change between characters at any time, but not during a mission. This seems odd since we actually see character switching during a mission, in this video!
See 1:28 seconds point and then listen to the voice-over, she says; "Introducing three lead characters, transforms both the narrative into one interwoven story and the structure of individual missions.
Players can cut between vantage points; And from one high octane moment to another. [Whilst the video switches through each lead character in the same mission].
This helps to give missions, new levels of intensity and diversity"!
So, you CAN switch characters during a mission.
'That's what the narrator from RockStar just said"!
If you can't switch characters during some certain missions, it is because those missions are side missions or missions that are unique to that specific character.