3dsmax from 2010 to 2023
This tool is free to use.
It adds to the biped, bend joints on Arms and Legs.
With a slider on Hands and Feets to control the bend value.
It also can be use to create good twist bones.
It adds the ability to stretch the Arms and legs.
You just have to skin using these new bones and not the biped ones.
But you animate using the original biped bones.