I solved this by assigning a modifier switch to CPG bindings for all the cyclic and collective controls - right next to the switch I use for request control. I hit both at the same time then when I take control from the front seat all of my HOTAS commands and axes switch from TEDAC to the same cyclic and collective controls I use in the pilot seat. Took a while to set up but it works great, and I guess IRL you only have 2 hands so they are either on the TEDAC or cyclic/collective.
for more detail I have a Virgil CM3 and I use the mode dial, mode 1 is TEDAC, mode 2 the modifier for cyclic/collective, I use press on one of the encoders immediately below it as the “request control”. I hit that button and flip the mode switch at the same time.
Shiroka's post in Allow different axis bindings for CPG in control from CPG not in control was marked as the answer