Adding kinematics on pendulum like Object

Model-Pose1

STEP File

Yesterday, I tried to dive deeper into the kinematics of more "complex" objects in Unity. However, I reached my limits when working on the kinematics of the model in the attached image, and I wanted to ask for your assessment of the complexity involved.

From my experience, chaining linear and independent movements doesn't seem to be a problem. However, combining rotational and linear movements appears to be more complex.

The model is actually a relatively simple construction. On a base-plate, there is a rotatable and driven turret. At the top of this turret, there is a shaft driven by a motor, which, through a connecting rod-like mechanism, is supposed to exert a linear movement on the "sleeve" around the turret. I have illustrated this with two images.

I have tried various combinations of kinematic chains and also tested the use of Unity's internal joints like the "Hinge Joint." I always got to the point where I still needed to add the linear movement of the sleeve. However, I couldn't implement this final step under the conditions of the existing movements.

In general, I have the following questions:

• Is it possible to use the joints provided by Unity in combination with the drives from Realvirtual?
• Are there any similar "joints" from Realvirtual that constrain kinematic movement (i.e., without additional drive)?
• I had the feeling that a functioning kinematics heavily depends on the hierarchical arrangement of the game objects. It seems that the linear constraint of the sleeve to the turret doesn't work due to the hierarchy. Do you have any tips or rules that need to be followed, and is such a kinematic chain as desired in the model even possible?

I have also attached the STEP file of this model and would appreciate any feedback.