Having Multiple AI Pawns Attach to And Move Object (Pikmin)?

Been struggling with thinking of a good way to achieve this effect. The mechanic is pretty much exactly the mechanic you see in the Pikmin series, where the AI grabs onto an object, is able to move it after a certain number is achieved, and then they pathfind back to where it needs to go.

The issue in particular is, how do you get the AI to attach to the objects around the mesh at the objects base? Or how to ‘fake’ this effect?

I’ve considered adding sockets onto the objects themselves as points to grab, but that seems…very far from ideal and I can see possible issues arising from this.

Alternatively, I could just create an array or similar with positions gathered and do a bit of logic for the AI to know which index to grab onto based off it’s location. But again, their may be issues with this and is very time consuming.

Surely there is a better and simpler way to do this?