You generally have 3 conductors in a 3/4-way switch loop, and you can't misuse ground as a conductor. That leaves Only two ways to do it (short of a relay and low-voltage wiring):
Smart switches in the auxiliary locations
Obtain smart switches designed to be "remotes" for the main motion sensor and interact with it electronically, either using 1 wire as a data line, or wireless via power-line signaling or radio.
Very lucky topology
This can only work, if
- supply power comes in to the light, the switches are all one spur, and the motion sensor is in the first box.
- supply power comes into the same switch box as the spur to the light, and the sensor is in that box.
- the essential interconnections are in conduit, and you can pull more wires.
Otherwise you'll have a spot where you need 4 wires, and you only have 3 in the walls.
Your sensor needs three wires coming in: always-hot, switched-hot from the switch, and neutral for the light's current return. The sensor doesn't need neutral, but the light does, so inevitably neutral must come back this way.
http://www.lutron.com/TechnicalDocumentLibrary/369488.pdf
It does not support a 3-way switch. It supports a plain switch which switches between 'open' and always-hot or switched-hot. If it is placed in one position and the one other position was a 3-way switch, then they have you rewire the 3-way to be a plain switch.
Since you have two remaining positions with manual switches, those two positions must together emulate the behavior of a plain 1-way switch. They way you do that is the classical 3-way circuit. The 4-way switch needs to be swapped out for a 3-way. Which you happen to have spare. However, if supply to the light also travels the switch wires, you'll need 4 wires in that segment:
- always-hot for the smart switch
- messenger 1
- messenger 2
- neutral to return current from the light
This is one more than a traditional n-way, installed with the usual 14/3, and you can't retrofit a consuctor.
This does work if your topology is just right: the two remaining physical switches are on a spur. In that case you won't need to carry lighting power (i.e. The neutral) between switches and you'll have enough wires.