The revolute joints are twisted

Hello all,

I am currently trying to build a 3DoF manipulator. However, the joint twists on an axis different from the axis of rotation. (It’s like a bearing with a missing ball.)
I checked the properties and the Break Force is set to “inf” and it looks fine.
The joints are separated by a few millimeters between body0 and body1 to avoid physical collisions.

Is there any way to fix this?