How do I get one insert plugin to go in between two channel strip devices or vice versa, instead of all inserts before the channel strip or the whole channel strip before the inserts?
No way.
Fun fact: almost all the channel strip devices (envelope shaper, vintage compressor, magneto, gate, etc) are available as dedicated insert plugins - you should see them in your plugin drop-down. So if you really need a plugin to be in a certain place in the signal chain, you could instantiate the channel strip devices you need before/after the plugin of choice by just using the normal inserts.