Remove Cyclic Dependancy

Hey everyone, I was just wondering if there is a way to build a rig with the same features as what’s in the blend file, but without a cyclic dependency. I’d like to avoid it, but I can’t figure out a way to keep the motion from the rig I currently have.

For those wondering, I’m planning on updating the car rigging tutorial on my Youtube channel, and adding compatibility to be able to rig trucks too (hence the IK chain).

Any help would be appreciated!

trying to get trailers working.blend (484 KB)