Creating a 3D Joint which constrains within a range.

How do you create a joint which basically works just like ticking the Constraints in the Rigidbody settings but with some tolerances?

Configurable Joint exposes everything, apparently, but does not seem to behave like it should when I configure it to do what I expect. Limits are always too soft, get ignored, or don’t work at all. The Hinge Joint below behaves correctly, but I cannot get a Configurable Joint to do the same for all of the axi I want it to work over.

Any specific solutions or tutorials on how to configure hard constraints with a configurable joint?

Unity Connect here are a bunch of tutorials on how to get started writing custom editor windows, I found the to be very useful.