Linking rotation on one local axis to another?

I’ve created two cylinders which hypothetically have both of their Vector3.up in any direction, I’ve been trying to find a way where I can take the local rotation of the Y axis of one cylinder and end up linking the exact same local rotation of the slave cylinder while keeping the slave’s other 2 angles as they currently are…basically like a universal joint which each piece rotating around their respective Y axes. I’m not having any luck, any help would be greatly appreciated!

Nest each cylinder inside an empty parent game object, and use the parent to orient the cylinder’s axis. Then the cylinder itself only has a Y axis rotation, and you can copy this from one cylinder to another without affecting the parent orientation of the cylinders.