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Using Improvised Experimentation mod you can have hands, of course not in vanilla though :3
I never play without Improvised Experimentation anymore, I can't stand not having hands in my engineering game.
It is a bit like having a weak physgun from Half Life/Garry's Mod. While you hold an object, you can precisely rotate and place it using the same rotation controls from the game.
https://steamhost.cn/steamcommunity_com/sharedfiles/filedetails/?id=2891367014
Also, the Experimentation version I linked is multiplayer compatible, and force is additive, so if you can't pick something up by yourself, your friends can help!