Can you TK a figure who is carrying another friendly fig? The rules say you can TK a figure who is carrying an object. So is a friendly fig an object?

no you can't because you have to put down the fig you are taxiiing before you can do another move like tk.

so if wasp is taxiing thor, she has to pick him up at the beginning and put him down at the end of her movement(whether it be 0 or 8) before you can use the other fig's tk.

Xavier PhD is correct. Your TK character is not allowed to act during your flier's movement, and so will not to able to TK until the passenger has already been put down.