Ask HN: Way around IRS 20 questions for contracting?

Background: In the US, an independent contractor/consultant can not work directly for a company like an employee. This was in response to some companies (Microsoft) classifying employees as contractors to avoid paying benefits, etc. However, a job shop/outsourcing agency can rent you to a company on a long term basis. One agency that I worked for payed me $65/hr and charged the client $130/hr. I've contracted and had my own clients but the rules limit my flexibility. I.e. going to a clients site and getting guidance and then working offsite is fine but if I want the ability to work on site day after day without getting my clients or myself in trouble with the IRS I can't as an independent contractor. What are my options for performing the agency role and capturing that value myself?