Hybrid systems comprising superconducting and semiconducting materials are promising architectures for quantum computing. Superconductors induce long-range interactions between the spin degrees of freedom of semiconducting quantum dots. These interactions are widely anisotropic when the semiconductor material has strong spin-orbit interactions. We show that this anisotropy is tunable and enables fast and high-fidelity two-qubit gates between singlet-triplet (ST) spin qubits. Our design is immune to leakage of the quantum information into noncomputational states and removes always-on interactions between the qubits, thus resolving key open challenges for these architectures. Our ST qubits do not require additional technologically demanding components nor fine-tuning of parameters. They operate at low magnetic fields of a few millitesla and are fully compatible with superconductors. By suppressing systematic errors in realistic devices, we estimate infidelities below , which could pave the way toward large-scale hybrid superconducting-semiconducting quantum processors.