Limited access only gives access to the remote, like you experienced. What you can do is grant Complete Access. When you do this, a user can go into the app, and control your device the same way you would control it within whichever app they choose (Android, iOS, or web.)
As for scrolling to your other zones within the remote in limited access, you should be able to do this, however it is a bit finicky. I find that if I use the kabob (the little dots) to pick up a zone as if I were going to change the run order, and then drop it, and then scroll my zones, it works better. I know that is a bit of a pain, this should be improved in the upcoming watering season!