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Ha, you've just described exactly the setup that I'm working with! Only difference is I have a ball joint, not a bolt, as I want to give the turret x and y authority to rotate (where z is local forward).
At least I think it's the same. I'm going to go check if it matches your description exactly.
And the density things works even when the object in question is ignoring gravity? That's counter-intuitive...but damn useful!