Using an override method in a separate script that inherits from the XR Socket Interactor would work. It may also be possible to just create your own socket script that set a lerp transform position of object to the socket.
@MrSuter You will find the lerping script in UpdateTarget from XRGrabInteractable. You can copy paste the entire XRGrabInteractable script into new script. Then change the UpdateTarget as per your expectations.
I posted a code sample there too in case it helps anyone exploring this. A notable difference though is that I’m not using this with a socket. I’m just trying to return an object to the state of an initial transform.