Ball Joints

A three-hinge balljoint mostly does the job, and does it well enough for car suspension and the like, but this suffers gimbal lock - if the first and middle axes align, the last and first axis rotate identically. You could make a fourth axis, but now you have to keep the fourth and first axes 90 degrees apart. A physical balljoint implemented with quaternions could sidestep all of these issues and reduce partcounts.

@Jerba Thanks I'll have a look at it.

https://www.simplerockets.com/c/Bq1fNi/Ball-joint-demonstation Made a ball joint in 2 (technically 3) parts, rest is just for demo purposes