@Holger_Schoenischka has some really good tutorials on this. Here is one of them. It’s not a joint, per se. But it should work well for what you may be wanting to do: Nomad Sculpt Tutorial - Posing (Rig) - Hierarchy - Parent / Child (V1.68 -15.11.2022) + posable Skeleton download
He’s a Nomad Genius and has some incredible tutorials. I highly recommend reading and watching his stuff.