How can we switch or log in as another user without first logging in as admin?

I’m working on user management for my Primebook forum setup.
Right now, if I want to log in as another user (for testing or support purposes), I first have to log in as the admin and then switch to that user.

I’d like to know if there’s a way to log in directly as another user — for example, to test permissions or troubleshoot an account — without having to go through the admin login every time.

Ideally, I’d like this to be secure and auditable, not a hack or bypass.
Does Primebook (or the underlying system) have a built-in “impersonate user” or “login as user” feature, or does it need to be added manually?

Thanks in advance for any guidance or best practices!