ALS4 doesn’t quite fit the bill but could potentially be useful, thanks for at least directing me to it, it’s interesting.
The physical animation videos are all roughly on the same content as the vid I linked in the OP, searches for ‘UE4 grabbing’ and ‘physical grab’ are Skyrim / Half Life 2 Gravity Gun style item pick up rather than in the video showing off the effect where the characters hands attach and move the container