Rotation & angle of universal joint?

[Roland Melkert]

There is one tiny quibble with this solution: it doesn't allow placing the end parts tight together on the 2L link section, because that would require sliding the angled axle slightly downward, and we don't know that exact position. I can envision a new feature that would allow such a placement…but I'll post about that another time. 

Yes, it would need a more specialized version of the script which does both joints in one go.

It should be possible by extending the steering wheel direction and finding the best intersection point on it instead of blindly using a point B.