Rigidbody has zero velocity but still moves

Im trying to slow down a rigidbody attached to something with a configurable joint with addforce. my addforce code works perfectly to stop a lone cube with this code:

rigidBody.AddForce(rigidBody.mass,-rigidBody.velocity), ForceMode.Impulse);
 
rigidBody.AddTorque(Vector3.Scale(rigidBody.inertiaTensor,-rigidBody.angularVelocity), ForceMode.Impulse);

but with the joint it only slows it down. even setting the velocity and angular velocity to 0, and it showing 0 in the inspector, it still moves.

Is there anything I can do about this?

@mellooow9 maybe if you remove the ForceMode.Impulse because that is gonna cause it to force move your object

Well, this doesnt look like an easy task, in unity doesnt exist something like a latefixedupdate or something like that. obviusly joints affect your rigidbodies so even if you set the rigidbody velocity to 0 in the fixedupdate AFTER the fixedupdtae all the physics get calculated (including the joint forces) as stated here: Unity - Manual: Order of execution for event functions
if you dont want the rigidbody to be affected bythe joints forces you will have to disable the joint