Quite a challenge so researched a couple days about hard surface modeling, booleans and how to use them efficiently…
Then I found a Free add-on named Fast Carve by Jayanam
Which it’s main function is boolean operations which is a time saver, however it has a button that sets auto smoothing, set the edges bevel weight and adds a bevel modifier.
Which brings nice results without the use of subsurf and maybe we achieve a model that has less polygons then when using subsurf.
Also ngons are our friend using this approach lol. Ofc it’s not flawless and sometimes you need to fix stuff.
Look below, did not use subsurf for the pieces of the arm.