Parenting Rigidbodies without using Kinematic

So, I need to have RigidbodyA be parented to RigidbodyB, but I still want RigidbodyA & B to react to external physics. I don’t care about RigidbodyA affecting B, in fact it would be better if they didn’t affect each other, but affected other objects. I don’t suppose there is anyway to do this? Thanks in advance!

Maybe what you are looking for is FixedJoints: