diff --git a/src/Mod/Assembly/App/AssemblyLink.cpp b/src/Mod/Assembly/App/AssemblyLink.cpp
index 48d3857d21..b39c815bc3 100644
--- a/src/Mod/Assembly/App/AssemblyLink.cpp
+++ b/src/Mod/Assembly/App/AssemblyLink.cpp
@@ -532,8 +532,6 @@ void AssemblyLink::synchronizeJoints()
 
     assemblyLinkJoints = getJoints();
 
-    AssemblyObject::recomputeJointPlacements(assemblyLinkJoints);
-
     for (auto* joint : assemblyLinkJoints) {
         joint->purgeTouched();
     }
@@ -546,87 +544,55 @@ void AssemblyLink::handleJointReference(
     const char* refName
 )
 {
-    AssemblyObject* assembly = getLinkedAssembly();
-
-    auto prop1 = dynamic_cast<App::PropertyXLinkSubHidden*>(joint->getPropertyByName(refName));
-    auto prop2 = dynamic_cast<App::PropertyXLinkSubHidden*>(lJoint->getPropertyByName(refName));
+    auto prop1 = dynamic_cast<App::PropertyXLinkSub*>(joint->getPropertyByName(refName));
+    auto prop2 = dynamic_cast<App::PropertyXLinkSub*>(lJoint->getPropertyByName(refName));
     if (!prop1 || !prop2) {
         return;
     }
 
-    App::DocumentObject* obj1 = nullptr;
-    App::DocumentObject* obj2 = prop2->getValue();
-    std::vector<std::string> subs1 = prop1->getSubValues();
-    std::vector<std::string> subs2 = prop2->getSubValues();
-    if (subs1.empty()) {
+    // 1. Get the external component prop1 is [ExternalPart, "Sub"]
+    App::DocumentObject* externalComponent = prop1->getValue();
+    if (!externalComponent) {
         return;
     }
 
-    // Example :
-    // Obj1 = docA-Asm1 Subs1 = ["part1.body.pad.face0", "part1.body.pad.vertex1"]
-    // Obj1 = docA-Part Subs1 = ["Asm1.part1.body.pad.face0", "Asm1.part1.body.pad.vertex1"] // some
-    // user may put the assembly inside a part... should become : Obj2 = docB-Asm2 Subs2 =
-    // ["Asm1Link.part1.linkTobody.pad.face0", "Asm1Link.part1.linkTobody.pad.vertex1"] Obj2 =
-    // docB-Part Sub2 = ["Asm2.Asm1Link.part1.linkTobody.pad.face0",
-    // "Asm2.Asm1Link.part1.linkTobody.pad.vertex1"]
-
-    std::string asmLink = getNameInDocument();
-    for (auto& sub : subs1) {
-        // First let's remove 'Asm1' name and everything before if any.
-        sub = removeUpToName(sub, assembly->getNameInDocument());
-        // Then we add the assembly link name.
-        sub = asmLink + "." + sub;
-        // Then the question is, is there more to prepend? Because the parent assembly may have some
-        // parents So we check assemblyLink parents and prepend necessary parents.
-        bool first = true;
-        std::vector<App::DocumentObject*> inList = getInList();
-        int limit = 0;
-        while (!inList.empty() && limit < 20) {
-            ++limit;
-            bool found = false;
-            for (auto* obj : inList) {
-                if (obj->isDerivedFrom<App::Part>()) {
-                    found = true;
-                    if (first) {
-                        first = false;
-                    }
-                    else {
-                        std::string obj1Name = obj1->getNameInDocument();
-                        sub = obj1Name + "." + sub;
-                    }
-                    obj1 = obj;
-                    break;
-                }
-            }
-            if (found) {
-                inList = obj1->getInList();
-            }
-            else {
-                inList = {};
-            }
-        }
-
-        // Lastly we need to replace the object name by its link name.
-        auto* obj = getObjFromRef(prop1);
-        auto* link = objLinkMap[obj];
-        if (!obj || !link) {
-            return;
-        }
-        std::string objName = obj->getNameInDocument();
-        std::string linkName = link->getNameInDocument();
-        sub = replaceLastOccurrence(sub, objName, linkName);
+    // 2. Map to local link
+    auto it = objLinkMap.find(externalComponent);
+    if (it == objLinkMap.end()) {
+        Base::Console().warning(
+            "AssemblyLink: Could not map external component %s to a local link for joint %s\n",
+            externalComponent->getNameInDocument(),
+            joint->getNameInDocument()
+        );
+        return;
     }
-    // Now obj1 and the subs1 are what should be in obj2 and subs2 if the joint did not changed
-    if (obj1 != obj2) {
-        prop2->setValue(obj1);
+    App::DocumentObject* localLink = it->second;
+
+    // 3. Set the new reference
+    // The local joint now points to the local link [LocalLink, "Sub"]
+    if (prop2->getValue() != localLink) {
+        prop2->setValue(localLink);
     }
+
+    // 4. Sync sub-elements
+    // The sub-elements (e.g. "Body.Face1") are relative to the component.
+    // Since the LocalLink points to the ExternalPart, the relative path is identical.
+    std::vector<std::string> subs1 = prop1->getSubValues();
+    std::vector<std::string> subs2 = prop2->getSubValues();
+
     bool changed = false;
-    for (size_t i = 0; i < subs1.size(); ++i) {
-        if (i >= subs2.size() || subs1[i] != subs2[i]) {
-            changed = true;
-            break;
+    if (subs1.size() != subs2.size()) {
+        changed = true;
+    }
+    else {
+        for (size_t i = 0; i < subs1.size(); ++i) {
+            if (subs1[i] != subs2[i]) {
+                changed = true;
+                break;
+            }
         }
     }
+
     if (changed) {
         prop2->setSubValues(std::move(subs1));
     }
diff --git a/src/Mod/Assembly/App/AssemblyObject.cpp b/src/Mod/Assembly/App/AssemblyObject.cpp
index 6121457e31..42baf4469d 100644
--- a/src/Mod/Assembly/App/AssemblyObject.cpp
+++ b/src/Mod/Assembly/App/AssemblyObject.cpp
@@ -132,7 +132,7 @@ App::DocumentObjectExecReturn* AssemblyObject::execute()
         "User parameter:BaseApp/Preferences/Mod/Assembly"
     );
     if (hGrp->GetBool("SolveOnRecompute", true)) {
-        solve();
+        solve(false, false);  // No need to update jcs since recompute updated them.
     }
     return ret;
 }
@@ -488,6 +488,7 @@ bool AssemblyObject::validateNewPlacements()
 void AssemblyObject::postDrag()
 {
     mbdAssembly->runPostDrag();  // Do this after last drag
+    purgeTouched();
 }
 
 void AssemblyObject::savePlacementsForUndo()
@@ -607,48 +608,27 @@ void AssemblyObject::redrawJointPlacement(App::DocumentObject* joint)
         return;
     }
 
-    // Notify the joint object that the transform of the coin object changed.
-    auto* pPlc = dynamic_cast<App::PropertyPlacement*>(joint->getPropertyByName("Placement1"));
-    if (pPlc) {
-        pPlc->setValue(pPlc->getValue());
-    }
-    pPlc = dynamic_cast<App::PropertyPlacement*>(joint->getPropertyByName("Placement2"));
-    if (pPlc) {
-        pPlc->setValue(pPlc->getValue());
-    }
-    joint->purgeTouched();
-}
-
-void AssemblyObject::recomputeJointPlacements(std::vector<App::DocumentObject*> joints)
-{
-    // The Placement1 and Placement2 of each joint needs to be updated as the parts moved.
     Base::PyGILStateLocker lock;
-    for (auto* joint : joints) {
-        if (!joint) {
-            continue;
-        }
 
-        App::PropertyPythonObject* proxy = joint
-            ? dynamic_cast<App::PropertyPythonObject*>(joint->getPropertyByName("Proxy"))
-            : nullptr;
+    App::PropertyPythonObject* proxy = joint
+        ? dynamic_cast<App::PropertyPythonObject*>(joint->getPropertyByName("Proxy"))
+        : nullptr;
 
-        if (!proxy) {
-            continue;
-        }
+    if (!proxy) {
+        return;
+    }
 
-        Py::Object jointPy = proxy->getValue();
+    Py::Object jointPy = proxy->getValue();
 
-        if (!jointPy.hasAttr("updateJCSPlacements")) {
-            continue;
-        }
+    if (!jointPy.hasAttr("redrawJointPlacements")) {
+        return;
+    }
 
-        Py::Object attr = jointPy.getAttr("updateJCSPlacements");
-        if (attr.ptr() && attr.isCallable()) {
-            Py::Tuple args(1);
-            args.setItem(0, Py::asObject(joint->getPyObject()));
-            Py::Callable(attr).apply(args);
-            joint->purgeTouched();
-        }
+    Py::Object attr = jointPy.getAttr("redrawJointPlacements");
+    if (attr.ptr() && attr.isCallable()) {
+        Py::Tuple args(1);
+        args.setItem(0, Py::asObject(joint->getPyObject()));
+        Py::Callable(attr).apply(args);
     }
 }
 
@@ -687,8 +667,8 @@ App::DocumentObject* AssemblyObject::getJointOfPartConnectingToGround(
             continue;
         }
 
-        App::DocumentObject* part1 = getMovingPartFromRef(this, joint, "Reference1");
-        App::DocumentObject* part2 = getMovingPartFromRef(this, joint, "Reference2");
+        App::DocumentObject* part1 = getMovingPartFromRef(joint, "Reference1");
+        App::DocumentObject* part2 = getMovingPartFromRef(joint, "Reference2");
         if (!part1 || !part2) {
             continue;
         }
@@ -764,8 +744,8 @@ std::vector<App::DocumentObject*> AssemblyObject::getJoints(bool updateJCS, bool
             continue;
         }
 
-        auto* part1 = getMovingPartFromRef(this, joint, "Reference1");
-        auto* part2 = getMovingPartFromRef(this, joint, "Reference2");
+        auto* part1 = getMovingPartFromRef(joint, "Reference1");
+        auto* part2 = getMovingPartFromRef(joint, "Reference2");
         if (!part1 || !part2 || part1->getFullName() == part2->getFullName()) {
             // Remove incomplete joints. Left-over when the user deletes a part.
             // Remove incoherent joints (self-pointing joints)
@@ -791,11 +771,6 @@ std::vector<App::DocumentObject*> AssemblyObject::getJoints(bool updateJCS, bool
         }
     }
 
-    // Make sure the joints are up to date.
-    if (updateJCS) {
-        recomputeJointPlacements(joints);
-    }
-
     return joints;
 }
 
@@ -834,8 +809,8 @@ std::vector<App::DocumentObject*> AssemblyObject::getJointsOfObj(App::DocumentOb
     std::vector<App::DocumentObject*> jointsOf;
 
     for (auto joint : joints) {
-        App::DocumentObject* obj1 = getObjFromRef(joint, "Reference1");
-        App::DocumentObject* obj2 = getObjFromRef(joint, "Reference2");
+        App::DocumentObject* obj1 = getObjFromJointRef(joint, "Reference1");
+        App::DocumentObject* obj2 = getObjFromJointRef(joint, "Reference2");
         if (obj == obj1 || obj == obj2) {
             jointsOf.push_back(joint);
         }
@@ -854,8 +829,8 @@ std::vector<App::DocumentObject*> AssemblyObject::getJointsOfPart(App::DocumentO
     std::vector<App::DocumentObject*> jointsOf;
 
     for (auto joint : joints) {
-        App::DocumentObject* part1 = getMovingPartFromRef(this, joint, "Reference1");
-        App::DocumentObject* part2 = getMovingPartFromRef(this, joint, "Reference2");
+        App::DocumentObject* part1 = getMovingPartFromRef(joint, "Reference1");
+        App::DocumentObject* part2 = getMovingPartFromRef(joint, "Reference2");
         if (part == part1 || part == part2) {
             jointsOf.push_back(joint);
         }
@@ -961,7 +936,7 @@ bool AssemblyObject::isJointConnectingPartToGround(App::DocumentObject* joint, c
         return false;
     }
 
-    App::DocumentObject* part = getMovingPartFromRef(this, joint, propname);
+    App::DocumentObject* part = getMovingPartFromRef(joint, propname);
     if (!part) {
         return false;
     }
@@ -1055,8 +1030,8 @@ void AssemblyObject::removeUnconnectedJoints(
             joints.begin(),
             joints.end(),
             [&](App::DocumentObject* joint) {
-                App::DocumentObject* obj1 = getMovingPartFromRef(this, joint, "Reference1");
-                App::DocumentObject* obj2 = getMovingPartFromRef(this, joint, "Reference2");
+                App::DocumentObject* obj1 = getMovingPartFromRef(joint, "Reference1");
+                App::DocumentObject* obj2 = getMovingPartFromRef(joint, "Reference2");
                 return (
                     !isObjInSetOfObjRefs(obj1, connectedParts)
                     || !isObjInSetOfObjRefs(obj2, connectedParts)
@@ -1100,8 +1075,8 @@ std::vector<ObjRef> AssemblyObject::getConnectedParts(
             continue;
         }
 
-        App::DocumentObject* obj1 = getMovingPartFromRef(this, joint, "Reference1");
-        App::DocumentObject* obj2 = getMovingPartFromRef(this, joint, "Reference2");
+        App::DocumentObject* obj1 = getMovingPartFromRef(joint, "Reference1");
+        App::DocumentObject* obj2 = getMovingPartFromRef(joint, "Reference2");
 
         if (!obj1 || !obj2) {
             continue;
@@ -1674,12 +1649,12 @@ std::string AssemblyObject::handleOneSideOfJoint(
     const char* propPlcName
 )
 {
-    App::DocumentObject* part = getMovingPartFromRef(this, joint, propRefName);
-    App::DocumentObject* obj = getObjFromRef(joint, propRefName);
+    App::DocumentObject* part = getMovingPartFromRef(joint, propRefName);
+    App::DocumentObject* obj = getObjFromJointRef(joint, propRefName);
 
     if (!part || !obj) {
         Base::Console()
-            .warning("The property %s of Joint %s is bad.", propRefName, joint->getFullName());
+            .warning("The property %s of Joint %s is bad.\n", propRefName, joint->getFullName());
         return "";
     }
 
@@ -1735,15 +1710,15 @@ void AssemblyObject::getRackPinionMarkers(
         swapJCS(joint);  // make sure that rack is first.
     }
 
-    App::DocumentObject* part1 = getMovingPartFromRef(this, joint, "Reference1");
-    App::DocumentObject* obj1 = getObjFromRef(joint, "Reference1");
+    App::DocumentObject* part1 = getMovingPartFromRef(joint, "Reference1");
+    App::DocumentObject* obj1 = getObjFromJointRef(joint, "Reference1");
     Base::Placement plc1 = getPlacementFromProp(joint, "Placement1");
 
-    App::DocumentObject* obj2 = getObjFromRef(joint, "Reference2");
+    App::DocumentObject* obj2 = getObjFromJointRef(joint, "Reference2");
     Base::Placement plc2 = getPlacementFromProp(joint, "Placement2");
 
     if (!part1 || !obj1) {
-        Base::Console().warning("Reference1 of Joint %s is bad.", joint->getFullName());
+        Base::Console().warning("Reference1 of Joint %s is bad.\n", joint->getFullName());
         return;
     }
 
@@ -1809,21 +1784,21 @@ void AssemblyObject::getRackPinionMarkers(
 
 int AssemblyObject::slidingPartIndex(App::DocumentObject* joint)
 {
-    App::DocumentObject* part1 = getMovingPartFromRef(this, joint, "Reference1");
-    App::DocumentObject* obj1 = getObjFromRef(joint, "Reference1");
+    App::DocumentObject* part1 = getMovingPartFromRef(joint, "Reference1");
+    App::DocumentObject* obj1 = getObjFromJointRef(joint, "Reference1");
     boost::ignore_unused(obj1);
     Base::Placement plc1 = getPlacementFromProp(joint, "Placement1");
 
-    App::DocumentObject* part2 = getMovingPartFromRef(this, joint, "Reference2");
-    App::DocumentObject* obj2 = getObjFromRef(joint, "Reference2");
+    App::DocumentObject* part2 = getMovingPartFromRef(joint, "Reference2");
+    App::DocumentObject* obj2 = getObjFromJointRef(joint, "Reference2");
     boost::ignore_unused(obj2);
     Base::Placement plc2 = getPlacementFromProp(joint, "Placement2");
 
     int slidingFound = 0;
     for (auto* jt : getJoints(false, false)) {
         if (getJointType(jt) == JointType::Slider) {
-            App::DocumentObject* jpart1 = getMovingPartFromRef(this, jt, "Reference1");
-            App::DocumentObject* jpart2 = getMovingPartFromRef(this, jt, "Reference2");
+            App::DocumentObject* jpart1 = getMovingPartFromRef(jt, "Reference1");
+            App::DocumentObject* jpart2 = getMovingPartFromRef(jt, "Reference2");
             int found = 0;
             Base::Placement plcjt, plci;
             if (jpart1 == part1 || jpart1 == part2) {
@@ -1857,8 +1832,8 @@ bool AssemblyObject::isMbDJointValid(App::DocumentObject* joint)
     // When dragging a part, we are bundling fixed parts together.
     // This may lead to a conflicting joint that is self referencing a MbD part.
     // The solver crash when fed such a bad joint. So we make sure it does not happen.
-    App::DocumentObject* part1 = getMovingPartFromRef(this, joint, "Reference1");
-    App::DocumentObject* part2 = getMovingPartFromRef(this, joint, "Reference2");
+    App::DocumentObject* part1 = getMovingPartFromRef(joint, "Reference1");
+    App::DocumentObject* part2 = getMovingPartFromRef(joint, "Reference2");
     if (!part1 || !part2) {
         return false;
     }
@@ -1898,8 +1873,8 @@ AssemblyObject::MbDPartData AssemblyObject::getMbDData(App::DocumentObject* part
             for (auto* joint : joints) {
                 JointType jointType = getJointType(joint);
                 if (jointType == JointType::Fixed) {
-                    App::DocumentObject* part1 = getMovingPartFromRef(this, joint, "Reference1");
-                    App::DocumentObject* part2 = getMovingPartFromRef(this, joint, "Reference2");
+                    App::DocumentObject* part1 = getMovingPartFromRef(joint, "Reference1");
+                    App::DocumentObject* part2 = getMovingPartFromRef(joint, "Reference2");
                     App::DocumentObject* partToAdd = currentPart == part1 ? part2 : part1;
 
                     if (objectPartMap.find(partToAdd) != objectPartMap.end()) {
@@ -2030,7 +2005,7 @@ App::DocumentObject* AssemblyObject::getUpstreamMovingPart(
         return part;
     }
 
-    part = getMovingPartFromRef(this, joint, name == "Reference1" ? "Reference2" : "Reference1");
+    part = getMovingPartFromRef(joint, name == "Reference1" ? "Reference2" : "Reference1");
 
     return getUpstreamMovingPart(part, joint, name);
 }
diff --git a/src/Mod/Assembly/App/AssemblyObject.h b/src/Mod/Assembly/App/AssemblyObject.h
index f1295e4a89..74bc8e64d5 100644
--- a/src/Mod/Assembly/App/AssemblyObject.h
+++ b/src/Mod/Assembly/App/AssemblyObject.h
@@ -108,7 +108,6 @@ public:
     Base::Placement getMbdPlacement(std::shared_ptr<MbD::ASMTPart> mbdPart);
     bool validateNewPlacements();
     void setNewPlacements();
-    static void recomputeJointPlacements(std::vector<App::DocumentObject*> joints);
     static void redrawJointPlacements(std::vector<App::DocumentObject*> joints);
     static void redrawJointPlacement(App::DocumentObject* joint);
 
diff --git a/src/Mod/Assembly/App/AssemblyUtils.cpp b/src/Mod/Assembly/App/AssemblyUtils.cpp
index 4fd7356b0e..913d4cfe39 100644
--- a/src/Mod/Assembly/App/AssemblyUtils.cpp
+++ b/src/Mod/Assembly/App/AssemblyUtils.cpp
@@ -520,14 +520,19 @@ App::DocumentObject* getObjFromProp(const App::DocumentObject* joint, const char
     return propObj->getValue();
 }
 
-App::DocumentObject* getObjFromRef(const App::DocumentObject* obj, const std::string& sub)
+App::DocumentObject* getObjFromRef(App::DocumentObject* comp, const std::string& sub)
 {
-    if (!obj) {
+    if (!comp) {
         return nullptr;
     }
 
-    const auto* doc = obj->getDocument();
-    const auto names = Base::Tools::splitSubName(sub);
+    const auto* doc = comp->getDocument();
+    auto names = Base::Tools::splitSubName(sub);
+    names.insert(names.begin(), comp->getNameInDocument());
+
+    if (names.size() <= 2) {
+        return comp;
+    }
 
     // Lambda function to check if the typeId is a BodySubObject
     const auto isBodySubObject = [](App::DocumentObject* obj) -> bool {
@@ -618,7 +623,7 @@ App::DocumentObject* getObjFromRef(const App::PropertyXLinkSub* prop)
         return nullptr;
     }
 
-    const App::DocumentObject* obj = prop->getValue();
+    App::DocumentObject* obj = prop->getValue();
     if (!obj) {
         return nullptr;
     }
@@ -631,7 +636,7 @@ App::DocumentObject* getObjFromRef(const App::PropertyXLinkSub* prop)
     return getObjFromRef(obj, subs[0]);
 }
 
-App::DocumentObject* getObjFromRef(const App::DocumentObject* joint, const char* pName)
+App::DocumentObject* getObjFromJointRef(const App::DocumentObject* joint, const char* pName)
 {
     if (!joint) {
         return nullptr;
@@ -647,13 +652,13 @@ App::DocumentObject* getLinkedObjFromRef(const App::DocumentObject* joint, const
         return nullptr;
     }
 
-    if (const auto* obj = getObjFromRef(joint, pObj)) {
+    if (const auto* obj = getObjFromJointRef(joint, pObj)) {
         return obj->getLinkedObject(true);
     }
     return nullptr;
 }
 
-App::DocumentObject* getMovingPartFromRef(
+App::DocumentObject* getMovingPartFromSel(
     const AssemblyObject* assemblyObject,
     App::DocumentObject* obj,
     const std::string& sub
@@ -710,39 +715,23 @@ App::DocumentObject* getMovingPartFromRef(
     return nullptr;
 }
 
-App::DocumentObject* getMovingPartFromRef(
-    const AssemblyObject* assemblyObject,
-    App::PropertyXLinkSub* prop
-)
+App::DocumentObject* getMovingPartFromRef(App::PropertyXLinkSub* prop)
 {
     if (!prop) {
         return nullptr;
     }
 
-    App::DocumentObject* obj = prop->getValue();
-    if (!obj) {
-        return nullptr;
-    }
-
-    const std::vector<std::string> subs = prop->getSubValues();
-    if (subs.empty()) {
-        return nullptr;
-    }
-    return getMovingPartFromRef(assemblyObject, obj, subs[0]);
+    return prop->getValue();
 }
 
-App::DocumentObject* getMovingPartFromRef(
-    const AssemblyObject* assemblyObject,
-    App::DocumentObject* joint,
-    const char* pName
-)
+App::DocumentObject* getMovingPartFromRef(App::DocumentObject* joint, const char* pName)
 {
     if (!joint) {
         return nullptr;
     }
 
     auto* prop = joint->getPropertyByName<App::PropertyXLinkSub>(pName);
-    return getMovingPartFromRef(assemblyObject, prop);
+    return getMovingPartFromRef(prop);
 }
 
 void syncPlacements(App::DocumentObject* src, App::DocumentObject* to)
diff --git a/src/Mod/Assembly/App/AssemblyUtils.h b/src/Mod/Assembly/App/AssemblyUtils.h
index 52799830cd..f4f73d3e25 100644
--- a/src/Mod/Assembly/App/AssemblyUtils.h
+++ b/src/Mod/Assembly/App/AssemblyUtils.h
@@ -165,27 +165,24 @@ AssemblyExport App::DocumentObject* getObjFromProp(
     const App::DocumentObject* joint,
     const char* propName
 );
-AssemblyExport App::DocumentObject* getObjFromRef(const App::DocumentObject* obj, const std::string& sub);
+AssemblyExport App::DocumentObject* getObjFromRef(App::DocumentObject* obj, const std::string& sub);
 AssemblyExport App::DocumentObject* getObjFromRef(const App::PropertyXLinkSub* prop);
-AssemblyExport App::DocumentObject* getObjFromRef(const App::DocumentObject* joint, const char* propName);
+AssemblyExport App::DocumentObject* getObjFromJointRef(
+    const App::DocumentObject* joint,
+    const char* propName
+);
 AssemblyExport App::DocumentObject* getLinkedObjFromRef(
     const App::DocumentObject* joint,
     const char* propName
 );
-AssemblyExport App::DocumentObject* getMovingPartFromRef(
+// Get the moving part from a selection, which has the full path.
+AssemblyExport App::DocumentObject* getMovingPartFromSel(
     const AssemblyObject* assemblyObject,
     App::DocumentObject* obj,
     const std::string& sub
 );
-AssemblyExport App::DocumentObject* getMovingPartFromRef(
-    const AssemblyObject* assemblyObject,
-    const App::PropertyXLinkSub* prop
-);
-AssemblyExport App::DocumentObject* getMovingPartFromRef(
-    const AssemblyObject* assemblyObject,
-    App::DocumentObject* joint,
-    const char* pName
-);
+AssemblyExport App::DocumentObject* getMovingPartFromRef(const App::PropertyXLinkSub* prop);
+AssemblyExport App::DocumentObject* getMovingPartFromRef(App::DocumentObject* joint, const char* pName);
 AssemblyExport std::vector<std::string> getSubAsList(const App::PropertyXLinkSub* prop);
 AssemblyExport std::vector<std::string> getSubAsList(
     const App::DocumentObject* joint,
diff --git a/src/Mod/Assembly/AssemblyTests/TestCore.py b/src/Mod/Assembly/AssemblyTests/TestCore.py
index 1aae10038a..b68fefc0f1 100644
--- a/src/Mod/Assembly/AssemblyTests/TestCore.py
+++ b/src/Mod/Assembly/AssemblyTests/TestCore.py
@@ -206,8 +206,8 @@ class TestCore(unittest.TestCase):
         JointObject.Joint(joint, 0)
 
         refs = [
-            [self.assembly, [box2.Name + ".Face6", box2.Name + ".Vertex7"]],
-            [self.assembly, [box.Name + ".Face6", box.Name + ".Vertex7"]],
+            [box2, ["Face6", "Vertex7"]],
+            [box, ["Face6", "Vertex7"]],
         ]
 
         joint.Proxy.setJointConnectors(joint, refs)
diff --git a/src/Mod/Assembly/CommandCreateJoint.py b/src/Mod/Assembly/CommandCreateJoint.py
index aeb3ed1144..4d32057217 100644
--- a/src/Mod/Assembly/CommandCreateJoint.py
+++ b/src/Mod/Assembly/CommandCreateJoint.py
@@ -416,6 +416,8 @@ def createGroundedJoint(obj):
     )
     Gui.doCommand(commands)
     Gui.doCommandGui("JointObject.ViewProviderGroundedJoint(ground.ViewObject)")
+
+    Gui.doCommand("UtilsAssembly.activeAssembly().Document.recompute()")
     return Gui.doCommandEval("ground")
 
 
@@ -471,8 +473,11 @@ class CommandToggleGrounded:
                         Gui.doCommand(commands)
                         continue
 
-                ref = [sel.Object, [sub, sub]]
-                moving_part = UtilsAssembly.getMovingPart(assembly, ref)
+                moving_part, new_sub = UtilsAssembly.getComponentReference(
+                    assembly, sel.Object, sub
+                )
+                if not moving_part:
+                    continue
 
                 # Only objects within the assembly.
                 if moving_part is None:
diff --git a/src/Mod/Assembly/CommandCreateView.py b/src/Mod/Assembly/CommandCreateView.py
index bf40fb3527..540c4334d1 100644
--- a/src/Mod/Assembly/CommandCreateView.py
+++ b/src/Mod/Assembly/CommandCreateView.py
@@ -562,7 +562,8 @@ class ExplodedViewSelGate:
         self.viewObj = viewObj
 
     def allow(self, doc, obj, sub):
-        if (obj.Name == self.assembly.Name and sub) or self.assembly.hasObject(obj, True):
+        comp, new_sub = UtilsAssembly.getComponentReference(self.assembly, obj, sub)
+        if comp:
             # Objects within the assembly.
             return True
 
@@ -662,6 +663,7 @@ class TaskAssemblyCreateView(QtCore.QObject):
     def reject(self):
         self.deactivate()
         App.closeActiveTransaction(True)
+        App.activeDocument().recompute()
         return True
 
     def deactivate(self):
@@ -709,9 +711,14 @@ class TaskAssemblyCreateView(QtCore.QObject):
                 continue
 
             for sub_name in sel.SubElementNames:
-                ref = [sel.Object, [sub_name]]
+                moving_part, new_sub = UtilsAssembly.getComponentReference(
+                    self.assembly, sel.Object, sub_name
+                )
+                if not moving_part:
+                    continue
+
+                ref = [moving_part, [new_sub]]
                 obj = UtilsAssembly.getObject(ref)
-                moving_part = UtilsAssembly.getMovingPart(self.assembly, ref)
                 element_name = UtilsAssembly.getElementName(sub_name)
 
                 # Only objects within the assembly, not the assembly and not elements.
@@ -733,6 +740,7 @@ class TaskAssemblyCreateView(QtCore.QObject):
                     ref[1][0] = UtilsAssembly.truncateSubAtFirst(ref[1][0], obj.Name)
 
                 if not obj in self.selectedObjs and hasattr(obj, "Placement"):
+                    ref = [sel.Object, [sub_name]]
                     self.selectedRefs.append(ref)
                     self.selectedObjs.append(obj)
                     self.selectedObjsInitPlc.append(App.Placement(obj.Placement))
@@ -992,9 +1000,12 @@ class TaskAssemblyCreateView(QtCore.QObject):
             return
 
         else:
-            ref = [App.getDocument(doc_name).getObject(obj_name), [sub_name]]
+            rootObj = App.getDocument(doc_name).getObject(obj_name)
+            moving_part, new_sub = UtilsAssembly.getComponentReference(
+                self.assembly, rootObj, sub_name
+            )
+            ref = [moving_part, [new_sub]]
             obj = UtilsAssembly.getObject(ref)
-            moving_part = UtilsAssembly.getMovingPart(self.assembly, ref)
 
             if obj is None or moving_part is None:
                 return
diff --git a/src/Mod/Assembly/CommandSolveAssembly.py b/src/Mod/Assembly/CommandSolveAssembly.py
index 7ab1fe8b4a..3c2bdd5175 100644
--- a/src/Mod/Assembly/CommandSolveAssembly.py
+++ b/src/Mod/Assembly/CommandSolveAssembly.py
@@ -64,9 +64,8 @@ class CommandSolveAssembly:
         if not assembly:
             return
 
-        Gui.addModule("UtilsAssembly")
         App.setActiveTransaction("Solve assembly")
-        Gui.doCommand("UtilsAssembly.activeAssembly().solve()")
+        assembly.recompute(True)
         App.closeActiveTransaction()
 
 
diff --git a/src/Mod/Assembly/Gui/ViewProviderAssembly.cpp b/src/Mod/Assembly/Gui/ViewProviderAssembly.cpp
index 5056ad9201..dd85b6b6c4 100644
--- a/src/Mod/Assembly/Gui/ViewProviderAssembly.cpp
+++ b/src/Mod/Assembly/Gui/ViewProviderAssembly.cpp
@@ -199,10 +199,10 @@ bool ViewProviderAssembly::canDragObjectToTarget(App::DocumentObject* obj, App::
 
     for (auto joint : allJoints) {
         // getLinkObjFromProp returns nullptr if the property doesn't exist.
-        App::DocumentObject* part1 = getMovingPartFromRef(assemblyPart, joint, "Reference1");
-        App::DocumentObject* part2 = getMovingPartFromRef(assemblyPart, joint, "Reference2");
-        App::DocumentObject* obj1 = getObjFromRef(joint, "Reference1");
-        App::DocumentObject* obj2 = getObjFromRef(joint, "Reference2");
+        App::DocumentObject* part1 = getMovingPartFromRef(joint, "Reference1");
+        App::DocumentObject* part2 = getMovingPartFromRef(joint, "Reference2");
+        App::DocumentObject* obj1 = getObjFromJointRef(joint, "Reference1");
+        App::DocumentObject* obj2 = getObjFromJointRef(joint, "Reference2");
         App::DocumentObject* obj3 = getObjFromProp(joint, "ObjectToGround");
         if (obj == obj1 || obj == obj2 || obj == part1 || obj == part2 || obj == obj3) {
             if (!prompted) {
@@ -782,7 +782,7 @@ bool ViewProviderAssembly::getSelectedObjectsWithinAssembly(bool addPreselection
         App::DocumentObject* selRoot = Gui::Selection().getPreselection().Object.getObject();
         std::string sub = Gui::Selection().getPreselection().pSubName;
 
-        App::DocumentObject* obj = getMovingPartFromRef(assemblyPart, selRoot, sub);
+        App::DocumentObject* obj = getMovingPartFromSel(assemblyPart, selRoot, sub);
         if (canDragObjectIn3d(obj)) {
 
             bool alreadyIn = false;
@@ -850,7 +850,7 @@ void ViewProviderAssembly::collectMovableObjects(
         return;
     }
 
-    App::DocumentObject* part = getMovingPartFromRef(assemblyPart, selRoot, subNamePrefix);
+    App::DocumentObject* part = getMovingPartFromSel(assemblyPart, selRoot, subNamePrefix);
 
     if (onlySolids && assemblyPart->isPartConnected(part)) {
         return;  // No dragger for connected parts.
@@ -955,7 +955,7 @@ ViewProviderAssembly::DragMode ViewProviderAssembly::findDragMode()
         if (!ref) {
             return DragMode::Translation;
         }
-        auto* obj = getObjFromRef(movingJoint, pName.c_str());
+        auto* obj = getObjFromJointRef(movingJoint, pName.c_str());
         Base::Placement global_plc = App::GeoFeature::getGlobalPlacement(obj, ref);
         jcsGlobalPlc = global_plc * jcsPlc;
 
@@ -1022,6 +1022,7 @@ void ViewProviderAssembly::tryInitMove(const SbVec2s& cursorPos, Gui::View3DInve
         else if (visible) {
             joint->Visibility.setValue(false);
         }
+        joint->purgeTouched();
     }
 
     SbVec3f vec;
@@ -1100,6 +1101,7 @@ void ViewProviderAssembly::endMove()
         bool visible = pair.first->Visibility.getValue();
         if (visible != pair.second) {
             pair.first->Visibility.setValue(pair.second);
+            pair.first->purgeTouched();
         }
     }
 
@@ -1468,10 +1470,8 @@ void ViewProviderAssembly::isolateJointReferences(App::DocumentObject* joint, Is
         return;
     }
 
-    AssemblyObject* assembly = getObject<AssemblyObject>();
-
-    App::DocumentObject* part1 = getMovingPartFromRef(assembly, joint, "Reference1");
-    App::DocumentObject* part2 = getMovingPartFromRef(assembly, joint, "Reference2");
+    App::DocumentObject* part1 = getMovingPartFromRef(joint, "Reference1");
+    App::DocumentObject* part2 = getMovingPartFromRef(joint, "Reference2");
     if (!part1 || !part2) {
         return;
     }
diff --git a/src/Mod/Assembly/JointObject.py b/src/Mod/Assembly/JointObject.py
index b349961a7b..7bae57aab6 100644
--- a/src/Mod/Assembly/JointObject.py
+++ b/src/Mod/Assembly/JointObject.py
@@ -201,16 +201,11 @@ class Joint:
         self.migrationScript4(joint)
         self.migrationScript5(joint)
         self.migrationScript6(joint)
+        self.migrationScript7(joint)
 
         # First Joint Connector
         if not hasattr(joint, "Reference1"):
-            joint.addProperty(
-                "App::PropertyXLinkSubHidden",
-                "Reference1",
-                "Joint Connector 1",
-                QT_TRANSLATE_NOOP("App::Property", "The first reference of the joint"),
-                locked=True,
-            )
+            self.addReference1Property(joint)
 
         if not hasattr(joint, "Placement1"):
             joint.addProperty(
@@ -250,13 +245,7 @@ class Joint:
 
         # Second Joint Connector
         if not hasattr(joint, "Reference2"):
-            joint.addProperty(
-                "App::PropertyXLinkSubHidden",
-                "Reference2",
-                "Joint Connector 2",
-                QT_TRANSLATE_NOOP("App::Property", "The second reference of the joint"),
-                locked=True,
-            )
+            self.addReference2Property(joint)
 
         if not hasattr(joint, "Placement2"):
             joint.addProperty(
@@ -373,6 +362,24 @@ class Joint:
         joint.setPropertyStatus("LengthMin", "AllowNegativeValues")
         joint.setPropertyStatus("LengthMax", "AllowNegativeValues")
 
+    def addReference1Property(self, joint):
+        joint.addProperty(
+            "App::PropertyXLinkSub",
+            "Reference1",
+            "Joint Connector 1",
+            QT_TRANSLATE_NOOP("App::Property", "The first reference of the joint"),
+            locked=True,
+        )
+
+    def addReference2Property(self, joint):
+        joint.addProperty(
+            "App::PropertyXLinkSub",
+            "Reference2",
+            "Joint Connector 2",
+            QT_TRANSLATE_NOOP("App::Property", "The second reference of the joint"),
+            locked=True,
+        )
+
     def addAngleProperty(self, joint):
         joint.addProperty(
             "App::PropertyAngle",
@@ -681,6 +688,54 @@ class Joint:
             self.addAngleMaxProperty(joint)
             joint.AngleMax = old_value
 
+    def migrationScript7(self, joint):
+        """
+        Migrates PropertyXLinkSubHidden (Assembly-rooted) to PropertyXLinkSub (Component-rooted).
+        """
+
+        def migrate_prop(prop_name, add_method, assembly):
+            if not hasattr(joint, prop_name):
+                return
+
+            # Only migrate if it's the old type
+            if joint.getTypeIdOfProperty(prop_name) != "App::PropertyXLinkSubHidden":
+                return
+
+            old_ref = getattr(joint, prop_name)
+
+            joint.setPropertyStatus(prop_name, "-LockDynamic")
+            joint.removeProperty(prop_name)
+
+            add_method(joint)
+
+            if old_ref:
+                root = old_ref[0]
+                old_subs = old_ref[1]
+                if old_subs:
+                    comp, first_new_sub = UtilsAssembly.getComponentReference(
+                        assembly, root, old_subs[0]
+                    )
+
+                    if comp:
+                        new_subs = [first_new_sub]
+
+                        # We can deduce the prefix length from the difference
+                        # between old and new of the first item.
+                        prefix_len = len(old_subs[0]) - len(first_new_sub)
+
+                        for i in range(1, len(old_subs)):
+                            sub = old_subs[i]
+                            if len(sub) >= prefix_len:
+                                new_subs.append(sub[prefix_len:])
+                            else:
+                                new_subs.append(sub)
+
+                        setattr(joint, prop_name, [comp, new_subs])
+
+        assembly = self.getAssembly(joint)
+        migrate_prop("Reference1", self.addReference1Property, assembly)
+        migrate_prop("Reference2", self.addReference2Property, assembly)
+
     def dumps(self):
         return None
 
@@ -772,6 +827,8 @@ class Joint:
         ):
             raise Exception(errStr + "Reference2")
 
+        self.updateJCSPlacements(joint)
+
     def setJointConnectors(self, joint, refs):
         # current selection is a vector of strings like "Assembly.Assembly1.Assembly2.Body.Pad.Edge16" including both what selection return as obj_name and obj_sub
         assembly = self.getAssembly(joint)
@@ -812,6 +869,14 @@ class Joint:
         if not joint.Detach2:
             joint.Placement2 = self.findPlacement(joint, joint.Reference2, 1)
 
+        self.redrawJointPlacements(joint)
+
+    def redrawJointPlacements(self, joint):
+        if joint.ViewObject:
+            proxy = joint.ViewObject.Proxy
+            if proxy:
+                proxy.redrawJointPlacements(joint)
+
     """
     So here we want to find a placement that corresponds to a local coordinate system that would be placed at the selected vertex.
     - obj is usually a App::Link to a PartDesign::Body, or primitive, fasteners. But can also be directly the object.1
@@ -850,8 +915,8 @@ class Joint:
         if reverse:
             sameDir = not sameDir
 
-        part1 = UtilsAssembly.getMovingPart(assembly, joint.Reference1)
-        part2 = UtilsAssembly.getMovingPart(assembly, joint.Reference2)
+        part1 = UtilsAssembly.getMovingPart(joint.Reference1)
+        part2 = UtilsAssembly.getMovingPart(joint.Reference2)
 
         if not part1 or not part2:
             return False
@@ -915,7 +980,8 @@ class Joint:
                     part.Placement = plc
             self.partsMovedByPresolved = {}
 
-            joint.Placement1 = joint.Placement1  # Make sure plc1 is redrawn
+            if joint.ViewObject:
+                joint.ViewObject.Proxy.redrawJointPlacements(joint)
 
     def preventParallel(self, joint):
         # Angle and perpendicular joints in the solver cannot handle the situation where both JCS are Parallel
@@ -925,8 +991,8 @@ class Joint:
 
         assembly = self.getAssembly(joint)
 
-        part1 = UtilsAssembly.getMovingPart(assembly, joint.Reference1)
-        part2 = UtilsAssembly.getMovingPart(assembly, joint.Reference2)
+        part1 = UtilsAssembly.getMovingPart(joint.Reference1)
+        part2 = UtilsAssembly.getMovingPart(joint.Reference2)
 
         isAssembly = assembly.Type == "Assembly"
         if isAssembly:
@@ -999,24 +1065,25 @@ class ViewProviderJoint:
 
     def updateData(self, joint, prop):
         """If a property of the handled feature has changed we have the chance to handle this here"""
-        # joint is the handled feature, prop is the name of the property that has changed
-        if prop == "Placement1":
-            if hasattr(joint, "Reference1") and joint.Reference1:
-                plc = joint.Placement1
-                self.switch_JCS1.whichChild = coin.SO_SWITCH_ALL
+        if prop == "Placement1" and hasattr(joint, "Reference1"):
+            self.redrawJointPlacement(self.switch_JCS1, joint.Placement1, joint.Reference1)
 
-                self.switch_JCS1.set_marker_placement(plc, joint.Reference1)
-            else:
-                self.switch_JCS1.whichChild = coin.SO_SWITCH_NONE
+        if prop == "Placement2" and hasattr(joint, "Reference2"):
+            self.redrawJointPlacement(self.switch_JCS2, joint.Placement2, joint.Reference2)
 
-        if prop == "Placement2":
-            if hasattr(joint, "Reference2") and joint.Reference2:
-                plc = joint.Placement2
-                self.switch_JCS2.whichChild = coin.SO_SWITCH_ALL
+    def redrawJointPlacements(self, joint):
+        if not hasattr(joint, "Reference1") or not hasattr(joint, "Reference2"):
+            return
 
-                self.switch_JCS2.set_marker_placement(plc, joint.Reference2)
-            else:
-                self.switch_JCS2.whichChild = coin.SO_SWITCH_NONE
+        self.redrawJointPlacement(self.switch_JCS1, joint.Placement1, joint.Reference1)
+        self.redrawJointPlacement(self.switch_JCS2, joint.Placement2, joint.Reference2)
+
+    def redrawJointPlacement(self, jcs, plc, ref):
+        if ref:
+            jcs.whichChild = coin.SO_SWITCH_ALL
+            jcs.set_marker_placement(plc, ref)
+        else:
+            jcs.whichChild = coin.SO_SWITCH_NONE
 
     def showPreviewJCS(self, visible, placement=None, ref=None):
         if visible:
@@ -1091,7 +1158,7 @@ class ViewProviderJoint:
         assembly = self.app_obj.Proxy.getAssembly(self.app_obj)
         # Assuming Reference1 corresponds to the first part link
         if hasattr(self.app_obj, "Reference1"):
-            part = UtilsAssembly.getMovingPart(assembly, self.app_obj.Reference1)
+            part = UtilsAssembly.getMovingPart(self.app_obj.Reference1)
             if part is not None and not assembly.isPartConnected(part):
                 overlays[Gui.IconPosition.BottomLeft] = "Part_Detached"
 
@@ -1531,7 +1598,6 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
 
         self.deactivate()
 
-        solveIfAllowed(self.assembly)
         if self.activeType == "Assembly":
             self.joint.Visibility = self.visibilityBackup
         else:
@@ -1540,14 +1606,15 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         cmds = UtilsAssembly.generatePropertySettings(self.joint)
         Gui.doCommand(cmds)
 
+        self.assembly.recompute(True)
+
         App.closeActiveTransaction()
         return True
 
     def reject(self):
         self.deactivate()
         App.closeActiveTransaction(True)
-        if not self.creating:  # update visibility only if we are editing the joint
-            self.joint.Visibility = self.visibilityBackup
+        self.assembly.recompute(True)
         return True
 
     def autoClosedOnTransactionChange(self):
@@ -1596,8 +1663,15 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
             for sub_name in sel.SubElementNames:
                 # We add sub_name twice because the joints references have element name + vertex name
                 # and in the case of initial selection, both are the same.
-                ref = [sel.Object, [sub_name, sub_name]]
-                moving_part = self.getMovingPart(ref)
+
+                moving_part, new_sub = UtilsAssembly.getComponentReference(
+                    self.assembly, sel.Object, sub_name
+                )
+                if not moving_part:
+                    break
+
+                # Construct the reference using the Component as the root
+                ref = [moving_part, [new_sub, new_sub]]
 
                 # Only objects within the assembly.
                 if moving_part is None:
@@ -1628,9 +1702,12 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
             joint_group = UtilsAssembly.getJointGroup(self.assembly)
             self.joint = joint_group.newObject("App::FeaturePython", "Joint")
             self.joint.Label = self.jointName
+            joint_group.purgeTouched()
+            self.assembly.purgeTouched()
 
         Joint(self.joint, type_index)
         ViewProviderJoint(self.joint.ViewObject)
+        self.joint.purgeTouched()
 
     def onJointTypeChanged(self, index):
         self.jType = JointTypes[self.jForm.jointType.currentIndex()]
@@ -1836,14 +1913,15 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         ref1 = self.joint.Reference1
         ref2 = self.joint.Reference2
 
-        self.refs.append(ref1)
-        self.refs.append(ref2)
+        if UtilsAssembly.isRefValid(ref1, 2):
+            self.refs.append(ref1)
+            sub1 = UtilsAssembly.addTipNameToSub(ref1)
+            Gui.Selection.addSelection(ref1[0].Document.Name, ref1[0].Name, sub1)
 
-        sub1 = UtilsAssembly.addTipNameToSub(ref1)
-        sub2 = UtilsAssembly.addTipNameToSub(ref2)
-
-        Gui.Selection.addSelection(ref1[0].Document.Name, ref1[0].Name, sub1)
-        Gui.Selection.addSelection(ref2[0].Document.Name, ref2[0].Name, sub2)
+        if UtilsAssembly.isRefValid(ref2, 2):
+            self.refs.append(ref2)
+            sub2 = UtilsAssembly.addTipNameToSub(ref2)
+            Gui.Selection.addSelection(ref2[0].Document.Name, ref2[0].Name, sub2)
 
         self.jForm.angleSpinbox.setProperty("rawValue", self.joint.Angle.Value)
         self.jForm.distanceSpinbox.setProperty("rawValue", self.joint.Distance.Value)
@@ -2025,7 +2103,7 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         self._removeSelectedItems(selected_indexes)
 
     def getMovingPart(self, ref):
-        return UtilsAssembly.getMovingPart(self.assembly, ref)
+        return UtilsAssembly.getMovingPart(ref)
 
     # selectionObserver stuff
     def addSelection(self, doc_name, obj_name, sub_name, mousePos):
@@ -2038,7 +2116,15 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
 
         sub_name = UtilsAssembly.fixBodyExtraFeatureInSub(doc_name, sub_name)
 
-        ref = [rootObj, [sub_name]]
+        comp, new_sub = UtilsAssembly.getComponentReference(self.assembly, rootObj, sub_name)
+        if not comp:
+            # Selection was not valid (not inside assembly or logic failed)
+            Gui.Selection.removeSelection(doc_name, obj_name, sub_name)
+            return
+
+        # Construct the reference using the Component as the root
+        ref = [comp, [new_sub]]
+
         moving_part = self.getMovingPart(ref)
 
         # Check if the addition is acceptable (we are not doing this in selection gate to let user move objects)
@@ -2085,12 +2171,16 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
 
         sub_name = UtilsAssembly.fixBodyExtraFeatureInSub(doc_name, sub_name)
 
+        comp, new_sub = UtilsAssembly.getComponentReference(self.assembly, rootObj, sub_name)
+        if not comp:
+            return
+
         for reference in self.refs[:]:
             ref_obj = reference[0]
             ref_element_name = reference[1][0] if len(reference[1]) > 0 else ""
 
             # match both object and processed element name for precise identification
-            if ref_obj == rootObj and ref_element_name == sub_name:
+            if ref_obj == comp and ref_element_name == new_sub:
                 self.refs.remove(reference)
                 break
         else:
@@ -2103,7 +2193,13 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
             self.presel_ref = None
             return
 
-        self.presel_ref = [App.getDocument(doc_name).getObject(obj_name), [sub_name]]
+        rootObj = App.getDocument(doc_name).getObject(obj_name)
+
+        comp, new_sub = UtilsAssembly.getComponentReference(self.assembly, rootObj, sub_name)
+        if not comp:
+            return
+
+        self.presel_ref = [comp, [new_sub]]
 
     def clearSelection(self, doc_name):
         self.refs.clear()
diff --git a/src/Mod/Assembly/UtilsAssembly.py b/src/Mod/Assembly/UtilsAssembly.py
index ca26472864..a893d25a22 100644
--- a/src/Mod/Assembly/UtilsAssembly.py
+++ b/src/Mod/Assembly/UtilsAssembly.py
@@ -128,7 +128,7 @@ def isLinkGroup(obj):
 
 
 def getObject(ref):
-    if len(ref) != 2:
+    if len(ref) != 2 or ref[0] is None:
         return None
     subs = ref[1]
     if len(subs) < 1:
@@ -139,7 +139,10 @@ def getObject(ref):
     # or           "LinkOrAssembly1.LinkOrPart1.LinkOrBody.pad.Edge16"
     # or           "Assembly.LinkOrAssembly1.LinkOrPart1.LinkOrBody.Local_CS.X"
     # We want either LinkOrBody or LinkOrBox or Local_CS.
+    # Note since the ref now holds the moving part, sub_name can now be just the element name.
+    # In this case the obj we need is the reference obj
     names = sub_name.split(".")
+    names.insert(0, ref[0].Name)
 
     if len(names) < 2:
         return None
@@ -347,24 +350,6 @@ def getRootPath(obj, part):
     return None, ""
 
 
-# get the placement of Obj relative to its moving Part
-# Example : assembly.part1.part2.partn.body1 : placement of Obj relative to part1
-def getObjPlcRelativeToPart(assembly, ref):
-    # we need plc to be relative to the moving part
-    moving_part = getMovingPart(assembly, ref)
-    obj_global_plc = getGlobalPlacement(ref)
-    part_global_plc = getGlobalPlacement(ref, moving_part)
-
-    return part_global_plc.inverse() * obj_global_plc
-
-
-# Example : assembly.part1.part2.partn.body1 : jcsPlc is relative to body1
-# This function returns jcsPlc relative to part1
-def getJcsPlcRelativeToPart(assembly, jcsPlc, ref):
-    obj_relative_plc = getObjPlcRelativeToPart(assembly, ref)
-    return obj_relative_plc * jcsPlc
-
-
 # Return the jcs global placement
 def getJcsGlobalPlc(jcsPlc, ref):
     obj_global_plc = getGlobalPlacement(ref)
@@ -382,6 +367,15 @@ def getGlobalPlacement(ref, targetObj=None):
 
     rootObj = ref[0]
     subName = ref[1][0]
+    # ref[0] is no longer the root object. Now it's the moving part.
+    # So to get the correct global placement in case user transformed the assembly,
+    # or if he has nested the assembly, we need to adjust it.
+    # Example : Part / Assembly / Cylinder / Face1
+    # ref is [(Cylinder, 'Face1')]
+    parents = rootObj.Parents  # [(<Part object>, 'Assembly.Cylinder.')]
+    if parents is not None and len(parents) == 1 and len(parents[0]) == 2:
+        rootObj = parents[0][0]
+        subName = parents[0][1] + subName
 
     return rootObj.getPlacementOf(subName, targetObj)
 
@@ -398,7 +392,7 @@ def getElementName(full_name):
     # We want either Edge16.
     parts = full_name.split(".")
 
-    if len(parts) < 2:
+    if len(parts) < 1:
         # At minimum "Box.edge16". It shouldn't be shorter
         return ""
 
@@ -1214,59 +1208,79 @@ def getJointXYAngle(joint):
     return math.atan2(x_axis.y, x_axis.x)
 
 
-def getMovingPart(assembly, ref):
-    # ref can be :
-    # [assembly, ['box.edge1', 'box.vertex2']]
-    # [Part, ['Assembly.box.edge1', 'Assembly.box.vertex2']]
-    # [assembly, ['Body.Pad.edge1', 'Body.Pad.vertex2']]
-
-    if assembly is None or ref is None or len(ref) != 2:
+def getMovingPart(ref):
+    if ref is None or len(ref) != 2:
         return None
 
     obj = ref[0]
-    subs = ref[1]
 
-    if subs is None or len(subs) < 1:
-        return None
+    return obj
 
-    sub = ref[1][0]  # All subs should have the same object paths.
-    names = [obj.Name] + sub.split(".")
 
-    try:
-        index = names.index(assembly.Name)
-        # Get the sublist starting after the after the assembly (in case of Part1/Assembly/...)
-        names = names[index + 1 :]
-    except ValueError:
-        return None
+def getComponentReference(assembly, root_obj, sub_string):
+    """
+    Takes a full selection path (root + subnames) and normalizes it
+    to be rooted at the Assembly Component (Moving Part).
+
+    Returns: (ComponentObject, RelativeSubString) or (None, "")
+    """
+    if not assembly or not root_obj:
+        return None, ""
 
     doc = assembly.Document
 
-    if len(names) < 2:
-        App.Console.PrintError(
-            f"getMovingPart() in UtilsAssembly.py the object name {names} is too short. It should be at least similar to ['Box','edge16'], not shorter.\n"
-        )
-        return None
+    # 1. Reconstruct full path
+    # e.g. ['Part', 'Assembly', 'Cylinder', 'Face1']
+    names = [root_obj.Name] + sub_string.split(".")
 
-    for objName in names:
-        obj = doc.getObject(objName)
+    # 2. Find Assembly in path
+    try:
+        asm_idx = names.index(assembly.Name)
+    except ValueError:
+        return None, ""
 
+    # 3. Identify Component (first valid object after Assembly)
+    candidates = names[asm_idx + 1 :]
+    if not candidates:
+        return None, ""
+
+    component = None
+    comp_idx = -1
+
+    for i, obj_name in enumerate(candidates):
+        obj = doc.getObject(obj_name)
         if not obj:
             continue
 
-        if obj.TypeId == "App::DocumentObjectGroup":
-            continue  # we ignore groups.
-
-        # We ignore dynamic sub-assemblies.
-        if obj.isDerivedFrom("Assembly::AssemblyLink") and obj.Rigid == False:
+        # Skips (Groups / Flexible Links / LinkGroups / non-geofeature objects)
+        if obj.isDerivedFrom("App::DocumentObjectGroup"):
             continue
-
-        # If it is a LinkGroup then we skip it
+        if obj.isDerivedFrom("Assembly::AssemblyLink"):
+            if hasattr(obj, "Rigid") and not obj.Rigid:
+                continue
         if isLinkGroup(obj):
             continue
 
-        return obj
+        if isLink(obj):
+            linkedObj = obj.getLinkedObject()
+            if linkedObj and not linkedObj.isDerivedFrom("App::GeoFeature"):
+                continue
+        elif not obj.isDerivedFrom("App::GeoFeature"):
+            continue
 
-    return None
+        component = obj
+        comp_idx = asm_idx + 1 + i
+        break
+
+    if not component:
+        return None, ""
+
+    # 4. Construct new sub-string
+    # Everything after the component in the original names list
+    relative_parts = names[comp_idx + 1 :]
+    new_sub = ".".join(relative_parts)
+
+    return component, new_sub
 
 
 def truncateSubAtFirst(sub, target):