Interactable connected with each other using fixed-Joint components, explode or show other weird behaviors when being interacted with physics hands, the hands are also using configurable joints to attach the grabbable to itself

I am currently using Fixed Joints to connect a number of bone objects. I did not put them in a compound rigid body because I want the user to be able to attach and detach these objects to their parents. For example, a tibia is connected to the femur, the femur is connected to the pelvis, and the pelvis is connected to the sacrum. The sacrum has two pelves connected to itself. I am only focusing on the lower body and not including the feet’ bones. The hierarchy is quite large. I have attached them using fixed joints. The main idea is to allow the user to move the objects around, attach and detach bone objects, etc. When the user is not interacting with a connected hierarchy, I set the parent of that hierarchy as kinematic for ease of use. I have been trying to figure this out for a while now. Can someone please guide me in the right direction? I am completely lost.