This can be done from anywhere and even by mixing vehicles (as in doing steps 1-5 with a street car and calling a PV for step 6)
- Pull behind MOC and have right d-pad option.
- Join someone in a different targeting mode.
- Accept the first alert, then hit right d-pad on the second alert and decline it. (If you get it, you no longer have the prompt for the d-pad, however you can still press it to enter.)
- Drive out of the area behind the MOC.
- Hit right d-pad; the headlights/high-beams should turn on/off.
- The next time you pull behind the MOC, you'll get sucked in without a prompt.