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For example an articulated steering setup is kind of a pain when the steer cylinders on each side of the pivot need to be at half stroke when everything is point straight. Ways around it but it makes for a cluttered design.
That's understandable, a potential workaround might be to not modify a given block but have separate variants of a block. For a hinge you could have a straight hinge block, and 90 deg hinge variant block. It could be listed as one block ( the stock hinge ) and discreetly swapped out for it's variant with a toggle. A single variant is all that would be required for the hinge as it's still constrained to the grid, and it's 90 deg variant can be flipped over for use in the other direction. This way you avoid actually modifying the states of any block, it's just giving the illusion and functionally it does the same thing.
The hydraulic cylinder could be the same idea. The stock extended block and a fully collapsed block that are discreetly swapped when an option is toggled. Each variant still abiding to the grid. You could go so far as having four separate blocks to swap between states ( on a slider ) but honestly two would awesome in itself.
Making the game automatically swap the blocks would be hard, specially when you consider having to transfer and tweak settings/logic connections. If it's not swapped automatically, it would be confussing for new players seeing what's essentially the exact same block multiple times
I don't think they would be more confused than by all those other block combinations that are not necessary. There are many blocks that are bascially just two other blocks in that angled/rounded category. People maybe getting confused about why they are there, but I have not yet seen someone complain.
This type of reasoning seems again to be a cover-up of the fact, that the build system has a flaw, that does not allow 1x1x1 parts with more than 2 connections opposite of each other, just like the reason why there is no proper 1x1x1 block, just tubes.
It is a flaw, not a feature.