Configurable Joint angular X limits are inverse of transform.rotation and Slerp drive rotates inversely for angular velocity

I have a Configurable Joint on an empty gameobject, defined with Primary Axis as (1,0,0) and Secondary Axis as (0,1,0). The X,Y,Z motion are Locked. X,Y,Z angular motion is Free.

1) Angular X Limits are not matc$$anonymous$$ng transform.rotation values. A negative value for limit is interpreted as limit of positive rotation. A positive value for limit is interpreted as limit on negative rotation.

2) Slerpt drive rotation for angular velocity is inverse to X-YZ drive w$$anonymous$$ch is doing it consistent with Left-Hand rule matc$$anonymous$$ng transform.rotation values.

Are these by design? If so, what is the explanation?

On both these points Hinge Joint behavior is as expected according to Left-Hand-rule.

I'm using latest Unity patch v5.5.0p3