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I think taking it up with the school principal might be somewhere to start. Your case makes sense, but those policies are in place due to some kind of past incidents, and nobody is going to violate policy without "permission".
OTOH, "just getting on the bus" seems like it would work; too. It's not as if drivers have a roster of who rides the bus, do they? (My school bus days were 30+ years ago). Once the bus driver recognized him, it doesn't seem like it would even come up. But, if you wanted to make it "official", get something in writing from someone at the school.
Yes they do keep a roster, I ride a bus and if somebody gets on that isn't supposed to be on there the driver tells them to get off.
I heard it said at my son's orientation day for this school year, that WCPSS does have a way to allow students to travel from one address in the morning and to another in the afternoon. There is a process to go through, but there was a parent there who said she had done it because she and her ex share custody. I'd call transportation and speak to the principal of the school.