To address the demand for adaptive switching between constant current output (CCO) and constant voltage output (CVO) during the battery charging process in medium-and low-power wireless charging applications, as well as the power and efficiency degradation caused by magnetic coupling misalignment, this paper proposes a hybrid-topology wireless power transfer (WPT) system with self-switching capability. The system employs a single-switch hybrid compensation topology, enabling automatic switching between CCO and CVO modes according to load variations, without requiring additional control strategies or hardware circuits, thereby simplifying the system architecture. Both the transmitter and receiver adopt grid-type flat spiral (GFSP) coils, which not only achieve natural decoupling of same-side coils but also significantly improve the system’s misalignment tolerance. The proposed topology is validated by MATLAB/Simulink simulations under different load conditions, demonstrating smooth transitions between CCO and CVO modes with efficient and stable output. Furthermore, a 36 V/6 A experimental prototype was developed for verification. Experimental results show that the system can reliably achieves CCO and CVO self-switching under X- or Y-axis offsets of 30 and 60 mm, as well as Z-axis offsets of 10 and 20 mm, while maintaining a peak system efficiency of 90.6% under various operating conditions. These findings confirm the effectiveness of the proposed hybrid topology in improving WPT system output performance, enhancing misalignment tolerance, and simplifying control strategies, offering new design insights and technical support for medium- and low-power wireless charging systems, especially those based on single-switch inverters.