Joints fail to follow physics when project uses Unity Physics

Reproduction steps:
1. Open the attached project "ReproProj"
2. Open the “/Assets/1. Hello World/HelloWorld.unity” Scene
3. In Hierarchy enable “HelloWorldSubscene”
4. In Hierarchy, expand "LegacyPhysics” and “ABSpherical"
5. Make sure that ABSpherical_LFF, ABSpherical_FLF and ABSpherical_FLL is enabled in Hierarchy
6. Enter the Play Mode

Expected result: All Joints move according to physics
Actual result: 3 Joints from step 5 will move randomly

Reproducible with: 1.0.8 (2022.3.4f1), 1.0.11 (2022.3.4f1)
Could not test with: 1.0.0-pre.65 (2022.3.4f1) (error CS0006: Metadata file 'Library/PackageCache/com.unity.ext.nunit@2.0.3/net35/unity-custom/nunit.framework.dll' could not be found)

Reproduces on: Windows 10 Enterprise 21H2

Notes:

• Project has custom angular joint with 1 locked axis and 2 free axis
• If Physics Settings in HelloWorldSubscene is set to Havok everything works, however, the issue reproduces when it is set to Unity Physics
• All combinations make the simulation run amok and end in NaN