Otherwise it’s pretty damn hard to get it right (especially the angular part). I used to work on a lower level including NVidia PhysX and I wrote a graphical joint limit editor myself to configure joints. Is there something like that in Unity, too?
Unity does not support this out of the box but you can always extend Unity if needed.
And As you already have experience with writing such visualizations systems it could actually be pretty easy for you to do.
This might be a good strating point if you decide to write an extension: