Heliboard does have a single hand layout, you can access it from the top toolbar (you might need to add this button in "Settings/Preferences/Additional keys/Select toolbar keys") or by long pressing the comma. Then tap the hand icon.
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I'm not sure, it might be possible. I am not the developer, just someone who wanted to guess why there is no option to disable those. You could open an issue in GitHub and ask for that option, the developers are quite active and responsive.