Can't think of a way to do this with infantry alone. You might want to try this:
Have your infantry use just one weapon, PRIMARY.
Give your vehicle(s) a special TransportContain module with "ArmedRidersChangeMyWeaponSet" and add a new WeaponSet with the weapon you wanted the infantry to use. Add some fire bones that show where the "infantry" shoots out of the vehicle.
Check the Chinese Listening Outpost for that code. It's all in there.
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