Can we model Forward and Inverse Dynamics using a 3D Gimbal Joint in Simmechanics?

We are attempting to create a Simmechanics model which consists of a grounded body, a gimbal joint, and a cylindrical body. We are attempting to drive this model inversely (with angles) to calculate torques for the joint. We then want to drive our forward model using torques from the inverse to produce the same motion. Is this possible? Currently, our forward model produces incorrect motions. We have attempted increasing solver step size and damping the joint but this does not solve our issues. We also are monitoring and avoiding any gimbal lock issues. The model does seem to work when we remove gravity. Any input would be appreciated. Thank you.