YES!
It's still very wip, I spent a couple of weekends on it so far, but I'm working on a harness that eschews autonomy and instead aims to work as a pair programming partner. Key to that are distinct "driver" and "navigator" modes, with the capacity to flip between them rapidly.
https://gitlab.com/philbooth/opair
(not really usable yet, but after tomorrow's session I expect to be developing opair in opair, which is mildly exciting)