Smoothly join two rounded rectangles at one joint

I would like to join my two rounded rectangles together into a single shape at the elbow joint they create but no matter how accurately I line them up, whenever I combine them into a single shape the joint is off and you can tell there is a curve and it’s not a single smooth shape.

Is there a way to create this shape in a more precise way?

Pre-Pathfinder
Pre-pathfinder

Post-Pathfinder
Post-pathfinder

Answer

To expand on @joojaa’s comment:

Step 1
Use the pen tool to create a stroked path in the middle of your graphic, like so:
step1

Step 2
Set the stroke size to match the width of your graphic. Set the cap to “Round Cap” and the corner to “Round Join” for the rounded look you’re after
stroke

Almost there:
almost there

Step 3
Expand the shape
expand
accept

We got the correct shape:
correct

Final Step
Stroke it like you mean it. I gave it an inner stroke of 5px, and voila:
success

Attribution
Source : Link , Question Author : Mr.Smithyyy , Answer Author : Spasimir Dinev

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