Bevel between two objects?

As the title says, I need to create a bevel between two objects without needing to merge them, similar to a weld, but not the same. Objects need to be able to move without changing their topology.

How would you approach this?

[Like this](https://forums.autodesk.com/t5/image/serverpage/image-id/397039i9C3F0EF39B4B8276/image-dimensions/2500?v=v2&px=-1)