Hinge joint around two axis

Use one parent object for one axis and place that inside another object for the other axis

Create an empty game object

call it X rotation

Create another empty game object

call it z rotation

put x rotation inside z rotation

put your model inside x rotation, now your model should be 3 levels down in the hierarchy

Attach a script to x rotation game object that only rotates on the x axis

Attach a script to the z rotation game object that only rotates on the z axis

This way you wont get weird twisting and you don't need to use any joints.

Thank you. Could u please specify it. Im not sure how its done. :-)