How can I add an action from a QGIS toolbar to my custom toolbar programatically?

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I have a toolbar and I want it to have an already existing action, but checking the documentation I only found methods to add newly created actions, not already existing ones. Is there a way to do this?

The action I want to add is the Touch, Zoom and Pan tool from Map Navigation toolbar. I know I can reference it this way:

qgis.utils.iface.mapNavToolToolBar().actions()[0]

But there's nothing I can do with it.



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