After talking through ideas with Ste, I have had play at folding the legs back inside the tin. As the shoehorn, head shape pops the lid the legs rush back inside. At the end of my scene when the cupboard door is opening all of the bugs need to hide/be camouflaged so that they can't been seen as 'bugs' in the end shot.
When I have been considering this I have been looking for reference in a few places. I have looked at how tortoises retract back into their shells and also snails in order to see how natural/or not the movement is.
Here is a test, showing how the insect will retract into its shell:
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