How to implement a multi person carry system

I’m trying to implement a physical carry system like how they drag the couches here: Moving Out - Announcement Trailer - Nintendo Switch - YouTube

Specifically I’d like to populate my carryable objects with predefined grab handles that a player can hold, and if they’re holding it, let them carry the object together with other players. It is not absolutely necessary that this be done with physics, but I want the object to realistically rotate on the x and y axes as the carriers move around uneven terrain.

My idea for how to do this would be, once enough players are holding the object to lift it, tether each player tightly to their grab point with physics constraints and suspend the held mesh a few feet above the ground. However the character controllers don’t seem to respect the physics constraints and are free to walk as far away as possible (probably due to being kinematic?).

Is this a reasonable approach, and if so, how can I fix the tethers? If not, what would make more sense?