Earlier quoted context omitted.
"you're going to have to undo all of this" Why can't "all of this" be packaged into one idiot-proof box with connections to the grid, your off-grid system, and your house?
You mean like a generator transfer switch? http://www.generac.com/all-products/transfer-switches/home-b...
So you can't just add an automatic transfer switch to retro-fit this to an existing inverter, but there are plenty of inverters where an option for an external module can be purchased or where an automatic transfer switch is built into the inverter itself:
http://ww3.wholesalesolar.com/newsletter/MAGNUM-AC-COUPLED-L...
These inverters will first synchronize with the grid before they connect.