Did I just mess up my character?

So I'm quite new to the game. Had it on pc played about 10 hours in total and then I stopped playing. Now I've recently bought it on PS3 and I forgot how a lot of things work in the game.

Basically I'm talking about vocations. I want to ultimately be a warrior so I started as a fighter then when I reached gran soran I turned straight into a warrior.

Have I fucked up? I just heard about augments for each class and how they carry over to other vocations. I.e you can learn augments over time as a fighter where you can be tanky and have lots of hits and take that augment over to the warrior class.

After hearing something like that I'm kinda nervous about my warrior class now. I'm still really low leveled and stuff, would it be wise to go back to fighter so I can get these tank abilities and cross it over to warrior at a later point in the game?

Are there tanky augments you can learn as a warrior?