Only if the other pilot is an examiner or instructor valid on type/class
No, VP, because you are not receiving instruction, and you are not acting as PIC while carrying passengers. Manipulting controls does not automatically equal being in command and neither does it equal instruction. Being out of 90 day currency whilst having valid licences and ratings does not prevent you from acting as pilot. The PIC obviously would have to be 90 day current in order to carry you.