Get ground position for Joint

So, I am using the configurable joint component for creating smooth flying motion just like Brackies is doing in is MFPS series. My problem is the following: It works very well on a flat surface but on uneven ground it doesn't update the target position on the y axis. I could use a RayCast but I want to know if there is a better way because RayCast spam doesen't look very efficient.