I'm not sure if this is relevant now, but in case you use the time-research-delay of the internet, here is a solution that works with Civil 3D 2012. The command is "_AeccEditFeatureCurve". Choose the "D" option for delete. Now click on the arc. It behaves oddly if you have two arcs next to each other, but keep clicking on the "auto-generated" "replacement"curves until tangent segments appear. Now use your "Insert PI" button to add the one or two vertices that you need. If you accidentally delete a necessary arc, just use the "fillet" or "fit curve" buttons to add it back in now that you have the correct tangent segments.
I wish that the featurlines would display those cool tool-tip editors that appear when you are editing polylines, but until then (in the far distant future) this is the best practice that I can propose that does not require exploding, redrawing, or converting.
Digging into the old threads there. You make a geat point that should be noted. Also note that at the time of the original post the EditFeatureCurve command did not exist. 🙂
John Mayo