I’ll just say what I usually do, I hope it helps.
Recently I found out that the joint orientation is bad. If you use FK, the joint orientation is just a pain in the ass. I do think it’s good for things like the fingers. The pink and thumb bend with an angle, so you could manually put in the joint orientation. I also found out that when I orient the joints and add an IK, the joints just pop away to a differant angle.
RPSolvers are great, they give you the abillity to orient the bones. Say you’ve got a leg. You’ll have an RP going from the hip to the ankle. If you’d use a SC you couldn’t orient the knee, with an RP you can. Just put in a locator and place it in front of the knee, select the loacator, select the RPSolver and do a pole vector constraint If you now move the locator, the knee follows, namely, the pole vectors get oriented using the locator.
Now you can leave the IKhandle alone and just use the locator. I usually use the IK’s in combination with a controler shape, to do things like a ToeRotateX or a FootRoll.
I hope this was usfull and helped you out, let me know the results