This video helped me a lot: it’s part of the humane rigging series which is for a much older version of Blender. https://youtu.be/SZE_KOjreAs?si=XaqVfY3o0OUkJPsE
Sir Wade’s video on gimble lock is good too, but he is using Maya, but the information is the same. That’s where I got the idea for using the gimble transform orientation that I posted earlier. https://youtu.be/XCh-yEkHPMo?si=ZAClhryB_mwaCrnS
