Provide an output manifold pressure intensifier at nominal system pressure, with the capacity to supply the system for the interval of time required to Stop VFD with Motor #1-> Switch VFD Load Side to Motor #2 -> Start VFD with Motor #2.
The pressure intensifier will be 'throttled' via proportional flow control valve with close loop feedback from an output manifold pressure transducer; I believe you should be able to execute a pretty smooth transfer from Pump #1 Pressure to Intensifier Pressure and then back to Pump #2 Pressure after the VFD switchover.