A couple questions on Hinge Joints

Hello.

I have a simple scenario of two Hinge Joints. One connected to another (think of Tank tracks).
When I hit play, the joints are connected the way I want, but I have a couple questions:

• Why does my last Hinge Joint spawn awkwardly inside the upper Hinge Joint?
• Is it possible to make the Rigidbodys interact with each other with Unitys Physics? At the moment they clip through each other.

Here is a video showing the spawning:

 

Can I bump this? I can't figure this problem out :/