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To lock models together, either drag a parent bone (model A's bip_spine3) to a child bone (model B's bip_spine3), which works regardless of bone names, or if the bones have the same name, drag a parent animationset ("modela1") to a child animationset ("modelb1") to automatically locke bones of the same name. To then "bone-merge" them, select the locked bones (bones that have lock icons beside them), and fully apply the "Zero" preset through all time.
This is just like you'd do to make a Team Fortress 2 character wear cosmetics or hold weapons, except not all of the bones will be locked (and thus not all of them have to be "Zero"-ed).
https://imgur.com/tEh4deS
The end result will be this:
https://imgur.com/RdI4k0M
And I presumably don't have to manually move the seperate model to that rootpoint in the base model with XYZ coordinates, right?
The "Zero" preset sets all selected controls to 0. For bones, this includes the X, Y, and Z position, as well as the X, Y, and Z rotation. Since bones are offset relative to their parent, using the "Zero" preset on a locked bone will make the locked bone have the exact same X, Y, and Z position and rotation as its parent bone (the bone it's locked to).
TL;DR: Correct. The "Zero" preset takes care of that.