I agree this would be very cool. Without having played this game, I understand the following may not be suitable, but here goes anyway: There are ways to simplify the intended organic interaction.
For example, if the CPU is ready to "do" something to contribute to teamwork, perhaps it can surround the area it wants "help" with via a flashing outline around the related shapes.
Flashing could mean the CPU is ready, whereas a solid color could means something else... each allowing the player to "engage" if desired with the intentionality of the CPU. Conversely, the player could employ some technique to signal their desire for teamwork.