>>300677219
If by bone constraints you mean like twist bones or "preserve volume" rigging, you can use parent constraints. https://vrcat.club/threads/tutorial-guide-twist-bones-what-are-they-and-how-do-you-use-them.3622/ is a guide.

If you mean physically simulated objects, you can use rigidbodies and configurable joints. It's pretty confusing, but https://wirewhiz.com/the-complete-guide-to-unitys-configurable-joints/ is a decent guide. Don't go overboard though, rigidbodies are kind of expensive, having more than 1 puts you to medium, more than 8 is very poor in the ranking system.