How to make rocket landing legs

Hi, I am not so pro at game development, actually beginner. I want to make simple Rocket landing game (like SpaceX) as hobby. I have a problem with connecting landing legs with rocket body. Which joint should I use? I succeeded with Fixed Joint, but I cannot then rotate these legs. When I use Spring Joint I can't keep them diagonally relative to horizont&body rocket. These legs are free and do what they wants.

How to do it properly? I have only one bad solution to use big cube instead of legs for physics with transparent render, and legs without colliders, rigidbody, only for look and animation.