Is there a way for the staff view to be updated when a different track is selected, or can it only be done with "Pick a Track"?

Olushola

I don't think so.... you have to select the tracks you want displayed in staff view. 

It is possible to have as many midi tracks display as you need. You are not limited to one track in staff.

I will sometimes have two or three displayed when I am working on them.  I can easily make adjustments in them as needed. 

Let's say you're working in the staff for track 1. Then you record your MIDI keyboard on track 2 and want to edit that track in the staff view after recording, so you click Views>Staff.
If you never closed the track 1 staff, that will be the one you see when you open the staff view even though track 2 is selected.
You need to close all previous track's staff views in order to open and see another one.
You can view multiple tracks's staff views though, using Pick Tracks.

double clicking on the MIDI track data will bring up the PRV for THAT ONE TRACK only.