Hi Tim,
The short answer is no.
A long time ago, I created a simple character with single-jointed extremities. As part of that, I used a null object to locate the pivot point for the arm relative to the body, but couldn’t find a way to have that null track the body object if the whole character moved. My solution was to leave the character in place but move the camera to give the appearance the entire character was moving.
You might need a general-purpose app like lightwave, electric image, etc, to give you the kind of linkage and IK you’re looking for. I’ve exported invig-created objects for that purpose before as well.
Hope this helps.
Jon