I wonder if the look at component could be useful here. Using a separate auxiliary joint (the green circle) like @esttri mentioned, but instead of the clavicle method, you just keep it outside the ik chain, capturepack it to the upper arm, and set the look at target to an elbow auxiliary joint with an appropriate up joint. Up joint might get a little tricky, since you’ll probably want that to follow the yaw of the ankle/ikTip which will allow the upper arm to yaw nicely.
@fabriciochamon Using the auto clav method like @esttri mentioned earlier is the best/easiest solution I found out of all my other attempts, I was checkmated at every other solution.
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