Switching over refers to the operation of interchanging roles. This can be done multiple times back and forth between the different dbs.
Failover refers to the operation of delegating the primary role to one of the available standby databases because the primary is not available anyore. You won't do this if the primary is still available since it's kind of cutting the old primary off your Dataguard. This operation cannot be undone as the switchover.
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