Actually, this application is done all the time with VFDs, in fact many now have canned "application macros" that do the sequencing control in the VFD processor. But you WILL have a transition spike when connecting the motor across-the-line. You MUST isolate the VFD output from the line power, so there is no (economical) way to avoid an open transition. Robicon VFDs offer a "synchronous transfer" option, but it is very expensive and usually applied to large motors.
Going the other way, from X-Line back to VFD control is also problematic unless your VFD has frequency matching, a.k.a. "speed search" or "flying restart" which detects and matches the VFD output to the rotor frequency. Look for this feature for this application.
Another solutionoften used is to put the lead pump on the VFD permanently. When it gets near full speed, switch on a lag pump full speed and slow down the VFD. Pressure surges can be a problem, but using soft starters on the lag pumps can help mitigate that as well. That which does not kill me, makes me stronger... and pissed off!