There are actually 3 ways to get a Panasonic TV to the
correct input.
Cycling is the slowest.

You can also press TV/Video then 1, 2 or whatever input
is needed.
The Discrete button method also works.
If there are no Input buttons in the Device mode then
the Support team should be able to add them for you.
I was using the second method myself and found it prone
to errors.I called Harmony support and had them add discretes.
I then was able to use Method 2 as described in posts
2 and 5 above.
Now the Panny goes to the correct input every time.