The PRSAs offered by Rabo are not self-directed - Rabo sell Zurich Life PRSAs and the funds are managed by Zurich Life.
You can switch between Zurich Life funds as and when you want. This is standard industry practice - you can do this with any pension plan you arrange.
You should also be aware that Rabo's service is execution-only i.e. Rabo do not offer you any advice as to the suitability of the product to your needs, choice of funds, level of contribution etc. You should only avail of an execution-only service if you're suitably well-informed on all of these aspects.
Charges on the Zurich Life PRSA include a small percentage per contribution as well as 1% of the fund per year. You can buy an identical Zurich Life PRSA, also on an execution-only basis from a discount broker with no charge per contribution and just the 1% annual fund management charge. There's a list of discount brokers in the Best Buys section of Askaboutmoney.