I only able to did it once. I had Shaundi & 2 regular homies when i receive a survival call. I marked the place and got on a car and to my surprise, Shaundi drove the car instead of me. After that, i got off the car and got back on, this time i drove the car. I don't know how i did that. If someone knows how to do it, please tell me.
After reading this topic i made some testing myself and found this bug: First make sure you have more than one followers. While getting inside of a car with only 2 seats, if you roll(sprint+jump) just after you open the door of the car one of your followers might get in the closest car to him. If you get in his car before he gets out, you will enter the passenger seat and he will drive around randomly for a random period of time, eventually everyone in the car will get out. It works with homies, couldn't do it with Shaundi, didn't tried other followers.