filter hook to load a different post/page on current post/page

You can use the request hook to change the loaded page for the same URL:

add_filter( 'request', function( $request ){
    //Replace this with custom logic to determine if the user should see the contact-team page
    $load_team_contact = true;

    if( $load_team_contact && isset( $request['pagename'] ) && 'contact' == $request['pagename'] ){
        $request['pagename'] = 'contact-team';
    }
    return $request;
} );

You just need to determine if the user should see the contact team page which would vary depending on your setup.