I'm not sure this will work with an infantry unit, nor if it will work for a unit that is supposed to enter another. But it is worth a try.
Give this guy a weapon like the Brute's, but which does very little damage (damage really shouldn't matter, since he should never actually fire it. This weapon is just to get him to attack). The weapon will need CellRangefinding=yes. Make the range very short, like Range=0.1. The warhead Verses= should target vehicles only.
Add DefaultToGuardArea=yes and GuardRange=(you decide) the unit, like the Brute has.
If all works, he should seek to use his close range weapon, but he'll have to get so close to use it, that he hopefully (this is the touchy part) enters the vehicle instead.
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