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Resonant transverse driving of a two-level system as viewed in the rotating frame couples two degenerate states at the Rabi frequency, an amazing equivalence that emerges in quantum mechanics. While spectacularly successful at controlling natural and artificial quantum systems, certain limitations may arise (e.g., the achievable gate speed) due to non-idealities like the counter-rotating term. Here, we explore a complementary approach to quantum control based on non-resonant, non-adiabatic driving of a longitudinal parameter in the presence of a fixed transverse coupling. We introduce a superconducting composite qubit (CQB), formed from two capacitively coupled transmon qubits, which features a small avoided crossing -- smaller than the environmental temperature -- between two energy levels. We control this low-frequency CQB using solely baseband pulses, non-adiabatic transitions, and coherent Landau-Zener interference to achieve fast, high-fidelity, single-qubit operations with Clifford fidelities exceeding $99.7\%$. We also perform coupled qubit operations between two low-frequency CQBs. This work demonstrates that universal non-adiabatic control of low-frequency qubits is feasible using solely baseband pulses.