The tedious part is the assigning and rotation of pivot points. Sometimes in order to move a group of objects (breps) as a single body you have to create IK hierarchy and assign them as children of a point. That point then goes in the IK.
The problem with the IK is that you cannot assign two parents to a single object.
Think of a car, or simpler, a bike. You want that bike to move along a rough terrain (a wavy curve). Now, you set one point to move along the curve attached to the front wheel. In order to make the bike move naturally you have to create 10000 keyframes adjusting the rear wheel to the curvature.
There should be a way to attach the bike to two points and depending on the position of these two points (which will move along the curve) the bikes position and rotation should follow the IK logic combining the two points.
I also find it difficult to make a Dock Crane IK.
You have one П looking object that moves in e.g. X direction. This П body has inside another bodi moving along the horizontal part. Then you have another body attached to that second body that moves along Z axis. So far so good. I got that happening. Now, Place a point on that 3rd body and make it move along a curve that defines the IK logic. It seems very easy thing to do when you think of it, but when you start doing that in Bongo2 it is not that easy at all.
How about using Rhino Layer hierarchy for IK hierarchy?
Or some other more integrated way?