P.S.: Typically, I like to answer with several options, if possible. There are many ways to do things.
However, rigging an object and animating it are two main themes, and to find the sweet spot between these two is an individual case-by-case discussion. Just to put some light on the “general” question.
If someone tells you “this is the best”, then for whom? The rigger, the animator, both? We all work differently, so there is no absolute answer.
Here is the setup I would use; so far, I have understood what you like to do.
Note that I have added the Pyramid after the PoseMorph Tag was “recorded”. So it will stay in-depended.
This also means it can be animated while following the end of the joints.
My best wishes for your project.