Oz Pearlman's Clutch. Powerful stuff. No, it does not meet every little nit-picky qualification you are looking for, but in principal, here is what happens.
They select a card, it is out jogged into the deck and handed to them while the card is still out jogged. They push it in and shuffle to their hearts content. The card IS in the deck. They examine the tuck box, you place the deck in the tuck box and give it to them to examine one last time. They place the deck in their own pocket. You show your hands clean (they really are), reach into their pocket, and produce their card from the closed box. The card was where it was supposed to be the whole time, there is no stealing the card nor palming or anything. The card is in the case in their pocket with the rest of the deck, and you, in less than a second, pull it out, even leaving the box closed.
Highly recommended. I do it all the time and get crazy results.