So the answer to both your questions is yes to an extent.
It is possible to export a joint animation by creating a motion study, and then rendering out the motion study. Here is a video from a couple years ago that shows what I am talking about, though some of the UI may be a little out of date. https://knowledge.autodesk.com/support/fusion-360/learn-explore/caas/video/youtube/watch-v-GJD2-u0s2...
As you can see leveraging a motion study and rendering out the video lets us export out the animation of a single joint, or if we so chose we could have multiple joints involved in the motion study. The most common thing I see missed during this process is to create a motion study, you must:
1. Render out an image via the cloud of the design with the motion study
2. Go to the rendered image, and you should see a new icon in the upper left allowing you to render the motion study.

One that that has been brought up in the past on the ideastation is having joints automatically converted into the animation space, while this isn't there today you are still able to simulate the motion with animations but it does require some extra work.
Hope this helps!

[Joel Palioca]
[Software QA Engineer]
Joel(dot)Palioca(at)autodesk(dot)com
Autodesk, Inc.