What was the title of the series of transformers where there were humans piloting them?

This was the series where there were humans piloting them, and before the transformer transformed, they jump out of it and become a part of the transformer.What was the title of the series of transformers where there were humans piloting them?The G1 finale Rebirth featured Headmasters and Targetmasters, alien beings who binary bonded with Transformers as their robot heads or weapons and piloted their vehicle modes

Transformers Armada featured Mini-cons who were small Transformers who attached themselves to a larger transformer to enhance their powers. The Mini-cons did not pilot the Transformer though because they transformed into vehicles