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Would it actually be legal to alternate between Andorra and France or Spain?

Yes, on condition that when entering Andorra you have a Schengen Area exit stamp and when leaving Andorra have a Schengen Area entry stamp.

As far as the Schengen Border Code is concerned, it is the proper entry/exit stamps that counts (assuming you don't require a visa) for short term stays.

Without the entry/exit stamps you are assumed to have overstayed, unless you can prove otherwise.

Sources:

• How to Get a Residence Permit in Andorra | Andorra Guides
  • Décret n° 2003-740 du 30 juillet 2003 portant publication de la convention entre la République française, le Royaume d'Espagne et la Principauté d'Andorre relative à la circulation et au séjour en Principauté d'Andorre des ressortissants des Etats tiers, signée à Bruxelles le 4 décembre 2000 (1) - Légifrance

  Section 4
  ...
  The regime for entry and movement in France and Spain for foreigners holding an Andorran residence permit is identical to that which applies to foreigners holding a French or Spanish residence permit.

  Google Translate Original text

• Andorra Schengen Visa Explained | Andorra Guides