Can configurable joint with angular limits use slerp drive?

So far in all of my testing it seems like Slerp drive ONLY works if all Angular *Motions are set to Free. I just want to confirm this is how it works.

I looked at the Configurable Joint documentation for reference material and it's not clear about which properties and what values are used in every situation. So I also resorted to reading the PhysX Joints documentation as well. I noticed the following:

Note: if any angular degrees of freedom are locked, the SLERP drive parameters are ignored. If all angular degrees of freedom are unlocked, and parameters are set for multiple angular drives, the SLERP parameters will be used.

That doesn't completely convince me that Limited is equivalent to Locked, so before I completely drop the issue I thought I'd ask the community. Cheers.