This is the best solution I've seen so far:
" Map Right Directionals to Left Commands
noremap s h
noremap d k
noremap f j
noremap g l
" Map Left Commands to Right Directionals
noremap h s
noremap k d
noremap j f
noremap l g
However, when actually using this mapping, it requires a double-press on the 's' and 'g' keys when switching from left to right.
Is there a better way to re-map these keys to work 100% correctly without the need to double-press keys?