Drive modes not showing in Inspector for Configurable Joint?

I’ve been working on setting up a Configurable Joint, however, I am not able to specify the Drive modes (e.g. Velocity or Position) in the Inspector (I am following https://www.3dbuzz.com/training/view/unity-fundamentals/physics/13-configurable-joint). As a result, none of my joints are affected by the target angular volocity or target rotation. Is there a setting I need to change in order to see them?

69676-unitynodrivemode.png

I had the same problem, all you need to do is go down and change the projection mode, below the sleep drive ( but not contained in it ).