Hello, recently i’ve made a prototype for fun.
my example was from this guy : UE4 - Weapon collision vs world - YouTube
In this project you will have to get a weapons (or object) and put 2 sockets for the hands.
as you can see on this preview :
I think that you figure it out. It only use physical constraint.
The project link:
Project IK Hand
have fun.
Been a good while since I’ve used physics constraints for the weapon collision. but I do remember there being an issue regarding the collision always being one frame behind.
Makes it difficult to use for aiming when the weapon is always behind where you want to aim 
Curious to see if you have the same issue.
Hey, i’m working on something different : https://cdn.discordapp.com/attachments/734506014996430887/854783229902454804/2021-06-16_20-02-00.mp4