Configurable joint don't rotate around the local axis of the rigidbody

I'm trying to make an active ragdoll, I decided to work with configurable joints because they give you all freedom, but I ran into a problem and can't solve it, from what I read the joint should rotate around the local axis of the body, but when I tried this was true just for rotations under 90 degrees, when the rotation exceeds 90 degrees on one axis the other axis flip and the rotation is messed up, I tried alot of things but nothing seem to work, I have an arm joint with x and z angular motion limited and the y motion locked, I put the drive on xyz drive and set damper and springs and configured in world space is checked off, I'm using unity 2020 Here is a video of the problem: https://drive.google.com/file/d/1kDU6d5IQmJRxKUbcYnas_sDpa97AYpnA/view?usp=sharing Please anyone can help because this problem stopped all my progress I will appreciate any help.