Can someone link me to a guide or tell me some exercises to do with my picking hand? I almost never use a pick for bass so I want to learn to go fast, skip strings, etc. with my fingers.

Thanks in advance!

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Can't give you link, but for finger exercises you should look up for video: John Patituci "Bass workshop"
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there is a .gp5 file - in the faq i think - that has fingering exersizes which may help
The way I got faster and better was simple. Learn how to play Battery from Metallica.
You never leave the E but it is mostly a series of open notes using a "galloping technique"
good luck friend.
I really recommend you pick up the book Bass Fitness by Josquin des Pres. It's nothing but a book of 200 (both forwards and backwards, so 400 in essence) exercises for both hands. It will help immensely for your issue.