When I swipe up on my iPhone XR it won’t let me close the apps or swipe to the ones I’ve used?

Sorry about that.

You can read this support article, and see if it can help:--> How to force an app to close on your iPhone, iPad, or iPod touch - Apple Support

Please, let me know how it goes.

Regards

Giulio

Using the apps switcher is a matter of habit.

Slowly swipe up resting your finger and stop in the middle of the screen releasing your finger.

Regards

Giulio