One shot and servo should be available regardless of the autofocus mode. However, there's a better way called "back button focus". When you have this set up, you hold a specific button on the back of the camera rather than half pressing the shutter button to focus. While the button is down, it continuously focuses like in servo mode, but as soon as you release the button it stops focusing. When in this mode, the shutter can be released without confirming focus, which is much more flexible because you can recompose the shot without having to re-focus. Additionally, on the R6 (not sure about the R) the manual focus ring stays active at all times on non-L lenses, so you can manually adjust focus without changing to manual focus mode.
Tracking focus mode can be usefull for moving subjects, but spot autofocus is also really useful when you want to focus on something specific rather than letting the camera decide. I would definitely learn how to use that one as well.
