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it sounds like what you're trying to do is what https://github.com/Anaconda-Platform/nb_conda_kernels does, except with pipenv. I unfortunately do not have a solution for you for pipenv, but nb_conda_kernels does seamlessly allow you to launch kernels in environments other than the environment Jupyter is running in without having to start multiple instances of jupyter.
This pull request is still highly experimental, but you may want to play with it and provide feedback. It's a first cut at implementing this kind of workflow in a generic manner.