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A small update:
On Unity 6.0.32f1 it seems that it works if I disable "Auto configure connected anchor" on the ConfigurableJoint component. I have not tested yet with runtime created vehicles, which is also essential since my project supports modding.

But it still does not work on 6.1 alpha regardless of that setting. Anyway it should work always, like before.

I am crazy with this problem, so sad waiting for so long for Unity 6 to receive this bad quality update with a very essential feature that worked for 10+ years.