I have a 3 joint ik chain for a left arm. Primary axis is X, Secondary is Z pointing Z+. The ik wrist joint has a Euler hiccup on Y occasionally. That joint is ultimately driving forearm twist so the hiccup causes the forearm to candy wrapper. My hack fix is to create a keyable switch that will add or subtract 360 to the Y offset of its orient constraint (constrained by the ik controller).
What's a better way?