There definitely has to be a better way of doing this....but to start it depends on how the envelope was sent and whether Signing Order was used. If Signing Order was used then the process or workflow cascades to each Recipient as the previous Recipient completes. Therefore with a Signing Order, you would reassign as the first Recipient, then wait for the new Recipient to sign or take action, then Recipient 2 would get a notification and you would reassign and so on. If all Recipients were parallel or no signing order then you could go through and reassign at will.
My suggestion here is to use one of the Manager Recipient types like "Specify Recipient" or "Update Recipient" or "Allow to Edit" rather than sending out to six Recipients at the same time ans using reassign.