Because the constraint of the arms is almost exactly like the constraint of the legs, we'll go through it much more quickly.  You'll probably be able to handle it....

Control-Copy the Right Hand to the top level (i.e. as a child of the model, not of any other bone).  Call the new bone 'Right Hand Target'.

Create a new Kinematic constraint in your pose on the Right Forearm bone.  Attach it to the Right Hand Target.

Create another new control bone, this time as a child of the Torso. Place it directly behind the elbow (make sure to check in multiple viewports to make sure it's properly placed on all axes).  Call it 'Right Bicep Target'.

Create a new Aim-At constraint in your pose on the Right Bicep bone. Attach it to the Right Bicep Target.

Do the same for the left arm.

That's it for the controls of the arms.  You can hide all of the bones of the arm (except for the fingers, if you made them... those should remain visible).
 
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