Rigging a simple mechanical/extending/telescopic arm with Control Rig?

Thank you so much for the advice! I knew there was a way to make my life easier.
As for how the final use for this asset would be, I’ve just posted another question, explaining the idea bit more in dept: Modular prop light rig with BluePrint and Control Rig
Basically, the idea is to have a modular prop that I can easily place, pose and adjust for the lighting, with as less effort and windows swapping as possible.