Whether you have to make adjustments when switching between wheels seems to be bike geometry and individual derailleur dependent...so I'm not surprised you were ok switching with the triple but are now having problems.
When you say "get up into it" are you shifting harder or easier? If harder (which is what I'm thinking when you say you shouldn't be using that combo in the small ring), then loosen the cable by turning the barrel clockwise and see how that goes. The cable tension isn't as finicky as the limit screws so you can play with it more. Or you can start from scratch and loosen it a lot then start to re-tighten until it shifts properly.
If you're only having problems when in the small ring, then it probably isn't your limit screw on the RD. More likely a cable tension thing.
What do you mean that the jockey wheels start to rub on each other? Do you mean the chain is rubbing on the underside of the derailleur cage? That's not a big problem. That's what that part of the cage over the bottom pulley is for. Plus, you've got a fair amount of slack on the underside of the chain a lot of the time when in harder gears. It'd be worse for your derailleur and shifting if the pulleys/cage were rubbing on the large cog when in the small ring / big cog combo.



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