Joint's behavior variance between Connected Component set to "none" and "missing."

Good day! I’m using a joint system for grabbing in VR.
The position of the object I want to grab is an empty object, and when given a configurable joint without setting the connected component (ungrabbed state) it floats. Grabbing it connects it to the VR hand driver trackers. My problem is in the ungrabbed state, wherein it floats. I am aware that a “none” connected body will set the other end of the joint to its current position in space, however, curiously, “Missing” as the connected body creates a different behavior. In the “missing” case, the object is allowed to fall, suggesting that the other end of the joint has the ability to either not exist or to not be connected to anything. This is the behavior I want, and I ask how this can be replicated in a sustainable manner.

-After the first play session, “missing” gets set back to “none” meaning creating the rigidbodies, connecting them, then removing the rigidbody component would need to be repeated.
-I could create a solution by creating a rigidbody, connecting it, then removing the rigidbody in the script, but that is rather inelegant.
-Another solution could be to create the joint when the object is grabbed rather than for it to always exist, and this is not so bad of a solution aside from the fact that the variables of the configurable joint will have to be specified in the code.

While there are workarounds, if I could simply emulate the behavior of a “missing” connected body consistently and sustainably, or simply set it to such, it would all be so easy.