Rotate Rigidbody on Two Separate Axes Independently to a specific angles

Hi everyone. I have run into bit of a problem and I would appreciate any insight. I have a rectangular rigidbody that I am trying to rotate on both its Y and Z axes. I want the Z axis to rotate a full 360 degrees and the Y axis to rotate 180 degrees. Also when one axis is rotating its rotation does not effect the rotation of the other axis.

I have figured out a solution to rotate a single axis at a time to a certain angle using torque. By monitoring the amount of rotation along an axis each frame.

         public void CalculateRotation()
         {
             Vector3 currentUpwardDirection = skateBoardRigidBody.transform.up
             // measure the angle rotated since last frame:
             float angle = Vector3.Angle(currentUpwardDirection, previousUpwardDirection);
            
             if (angle > 0.01)// if rotated a significant angle...
             {    
                 // accumulate in currentRotationAmount
                 currentRotationAmount += angle;
                 // and update previousUpwardDirection
                 previousUpwardDirection = currentUpwardDirection;
             }  
         }
 

However when incorporating both axes I cant seem to come to a solution.

I wanted both axes to rotate independently of each other so I could reuse the above code to stop the amount of torque once the desired angle was met for certain rotation.

I tried using the following to see if this would give me a rotation that I am looking for however it does not.It seems to combine the torques.

 skateBoardRigidBody.AddRelativeTorque(0,0,torqueAmount);
 skateBoardRigidBody.AddRelativeTorque(0,torqueAmount,0);

I this at all possible using physics/torque? Or should I resort to using Quaternions? I am building a skateboarding game and would like to try to incorporate physics were at all possible however, if I need to fake it then so be it.

I attached an image so you can get a better idea.

I appreciate any and all help.