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As Bulldog said, there are a lot of add on apps. I also have just started using icbar and it works very well and lets you customize a lot of other features on your Axim. Prior to that I used Wisbar, similar to icbar but with a few less features.
If you are not ready to start branching out with these second party applications, switcher bar itself will do what you want. If you add a shortcut for it to your startup folder, it will automatically load every time you do a soft reset. Just leave it on your menu bar. For the first couple of months I had it set up this way. You can use the upper right corner X to minimize a program or the switcher to completely close it.
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