If it's an insurance issue, then I suspect that the term PIC is confusing things. For insurance purposes, Sam R. needs to be on board but may be in the backseat. For operational purposes it's probably best to have one of the frontseaters act as PIC. Personally, that's the way I would approach it, although there
may will be better ways to solve this.
Edit: just thought of a way to check the legality of this.... damage the aircraft a bit during this operation and claim it on your insurance.