Does chaning weapons count as an action?

Good morning, Midgardians!

My question is: when a player wants his character to change weapons, does that count as an action? The manual says that if it's only one object, it's fine, but if you wanna interact with more than one object, it will count as an action. So imagine I'm wielding a 1h sword and a shield, but I wanna use my 2h mace. Ok, I swap my weapons without spending an action. But what if I wanna wield my 1h sword and my shield? That would count as an action since they are two objects, wouldn't it?

Thanks in advance.

To don or doff a Shield requires a Utilize action to matter what. This is right in the description of the item.

There is more flexibility if you are switching other items like going from Shortsword and Scimitar to a Maul. In that case, you can take advantage your object interaction and the rules for drawing/stowing weapons as part of your attacks with the Attack action to swap your weapons without totally wasting a turn.