I'm not sure exactly how it works, but it's seamless, meaning I don't see the lights flicker.  It's conceivable that the system sends messages to the grid forming inverters to be ready to transition, and that once prepared they can do so within a cycle or two of 'seeing' the grid voltage.
Actually a 'hard' transition to off-grid, where there's no warning of utility loss, does cause lights to flicker.  Whereas a soft transition, where the MID opens on a user command, is seamless.   So I think the inverters can switch modes faster when they are 'expecting' to.