I had no idea Joints would not be able to select work/origin features!
I am advising a client on how to set up universal joints, almost like iMates, but Inventor does not allow us to place a work geometry (point) into a part and then Rigid-Joint that point to another point in the assembly level. Too bad!
This would allow us to formulate simple and universal joints for all parts of the same type, without fully qualifying restrictions via iMates.

Please let us know if this is a possible addition to Inventor. I appreciate the attention. Thank you.