How to rotate bones physically?

I want to point a bone in a specific direction, but I can’t use AnimBP because I need physics interaction. So I’m trying to do this with angular drive for physics assets, but it’s not working well.
I looked at a few posts about PID controllers, but they all involved the whole actor using AddTorque, nothing that could be done on the bones.
It seems that there are many people with the same problem as me, but all questions with the same content seem to be ignored. Has anyone had success solving this problem?