Aligning IK Goal to an object?

Hoping someone can help me out here. I have several characters in my scene one of which I control, the other objects use Unity IK to target the hands on the other characters to the hands of the character I am controlling. The position works fine but when I set the target rotation for the hand to be the same as the main character they do not match.

I have tried doing what is suggested in this post https://forum.unity.com/threads/how...and-bone-rotation-offset.355941/#post-2950678 but I still cant get them to match up. Is there an example or a code snippet that will allow me to align a hand ik goal rotation to another hand bone?