I finally found the function!
It's called "Jump between pilot and selected position" within the "Aircraft" section. Default key is "Control C", however this is by default also the key to switch to the previous manned position. This causes some unpredictable pattern so you better change one of them to a dedicated key.
Works great, also with a human co-pilot. The pilot is the master, i.e. he can pass the control to the co-pilot and take it back whenever wanted. If you pass control to a AI co-pilot he will do the work for you (also works if "no AI control" is enabled in realism settings).
Note: There is no need to enable "switch position" in realism settings for pass control, i.e. it works in full real environment.
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