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You can attach the yellow dot at any point in the parent (fixed) object, and the blue dot anywhere on the child (rotating) object. Then move the pink pivot gizmo to where you want, and that's what actually matters, as it's the center of rotation. Then if this gizmo has to go inside an object or between two objects really close together, you can use X-Ray vision to grab it (https://indreams.me/guide/palette-glossary/assembly/show-or-hide/x-ray), for me has worked like a charm.
Then, if you have placed the bolt already and the child is not on place, press triangle to reposition your child object without being restricted to the movements the bolt allows (be careful not to delete the thing, press it only when you see "reposition connectors")
Also also, if it's for a wheel, consider placing the bolt when both objects are in place, put the yellow point wherever you want of the car, the blue anywhere in the wheel, and the gizmo just has to be aligned with the rotation axis, so it can be outside the car and wheel, to make it easier for you to move and tweak!