Only in Acts 2:38 is anyone "commanded" to be baptized.
It is faith in Christ, or "in His Name" that one is forgiven. There is no water in Acts 10:43.
As I noted in my previous response the word command is used as seen in Acts 10:47-48. In addition, even though the specific word "command" was not specifically stated in other accounts it is clear the hearers were told of the necessity to submit to water baptism as confirmed by their obedience
Acts 8:12-17 (Samaritans-half Jewish-half Gentile)
But when
they believed Philip preaching the things concerning the kingdom of God, and the name of Jesus Christ,
they were baptized, both men and women.
Then Simon himself believed also: and when he was baptized, he continued with Philip, and wondered, beholding the miracles and signs which were done.
Now when the apostles which were at Jerusalem heard that Samaria had received the word of God, they sent unto them Peter and John:
Who, when they were come down, prayed for them, that they might receive the Holy Ghost:
(For as yet he was fallen upon none of them:
only they were baptized in the name of the Lord Jesus.)
Then laid they their hands on them, and they received the Holy Ghost.
Acts 19:2-6 (Disciples who did not realize they had to water baptized in Jesus name)
He said unto them, Have ye received the Holy Ghost since ye believed? And they said unto him, We have not so much as heard whether there be any Holy Ghost.
And he said unto them, Unto what then were ye baptized? And they said, Unto John's baptism.
Then said Paul, John verily baptized with the baptism of repentance, saying unto the people, that they should believe on him which should come after him, that is, on Christ Jesus.
When they heard this, they were baptized in the name of the Lord Jesus.
And when Paul had laid his hands upon them, the Holy Ghost came on them; and they spake with tongues, and prophesied.
Acts 22:14-16 (Paul's water baptism)
And he said, The God of our fathers hath chosen thee, that thou shouldest know his will, and see that Just One, and shouldest hear the voice of his mouth.
For
thou shalt be his witness unto all men of what thou hast seen and heard.
And now why tarriest thou?
arise, and be baptized, and wash away thy sins, calling on the name of the Lord.
.