Crash on Unity::HingeJoint::Create when opening a specific project

Reproduction steps:
1. Open the attached project “CrashRepro“

Expected result: The project opens
Actual result: Editor crashes

Reproducible with: 2020.3.48f1, 2021.3.19f1
Not reproducible with: 2022.2.16f1, 2023.1.0b12, 2023.2.0a13
Fixed In: 2021.3.20f1

Reproducible on: Windows 10

First few lines of stack trace:

0x00007ff66a04a779 (Unity) Unity::HingeJoint::Create
0x00007ff66a25d487 (Unity) AwakeFromLoadQueue::InvokeAwakeFromLoad
0x00007ff66a258203 (Unity) AwakeFromLoadQueue::AwakeFromLoadAllQueues
0x00007ff669b3806a (Unity) GameObject::ActivateAwakeRecursively
0x00007ff669b37fd6 (Unity) GameObject::Activate