How would I make a proper arm-look system but without the viewarms?

The title isn’t clear but what I’m trying to ask is, how would I make the player’s limbs and head look toward the camera without using some viewmodel system, just a basic rotation that works serverside. I could utilize the Motor6D’s desiredangle property, but I don’t think I can rotate the head with that.

Example is something like this. image

I have a question why don’t you want to use a viewmodel?

Well, the thing is I do. But I have troubles with using them, they aim up in first person right? But I have no clue how to make the arms/head rotate on the Server, so the result is that you see your arms in the right way, but they still shoot in the same pos.