No problem. Don't think anyone has asked this before, but no. Nobody currently makes a plug-and-play harness like you're looking for.
You could just use vampire clips.
Yes you're still cutting into the harness, but you're not cutting the wire at all. Just mashing through the insulation enough to create a connection. Once you un-install the clip, the insulation works back into place and you can barely even tell anyone touched the factory wiring.