The only way I have managed to do something similar is to use a primitive, I find a ball to be best scaled to about 20%. Move the ball to the ankle and parent it to the ankle. Pose the figures and then select the forearm and get it to Point At the ball. When the first figure's leg moves the forearm will follow but you will need to adjust the hand position accordingly. If you point the hand to the ball, only the hand will move and not the forearm. IK needs to be off. Keep the ball visible until you are happy with the result , then you can turn visibility off. Wish there was an easier way but this is the closest I'vee come so far.