I don’t believe there is any automated way of doing it. I usually just hit play and record + play on the a4 at the same time. If I end up being off by a step (or two), I just switch to grid record mode and shift the sequence back however many steps using FUNC + LEFT arrow. A bit of a pain, but it isn’t too difficult to do. I’d love to have LIVE REC pause until transport is received as well.
I found this: