How to execute a transfer from customer consignment A to customer B

we had performed consignment fillup for customer A.
As the stock is not selling, Salesman physically pickup the stock from customer A and delivered to another consignment customer B.
Under usual practise, it would have to perform a consignment pickup and then a fillup to customer B.
Most of the time, it was not carried out.
My question,
Is there a better to handle this scenarios without too many paperwork?
Is there a transaction whereby this movement can be executed?
Thanks

Check this thread where the same topic was discussed
[Consignment Stock alloted to another Consignee |Re: Consignment Stock alloted to another Consignee]
thanks
G. Lakshmipathi

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