Import of Parasolids into NX11 was a way to check for geometry defects.

I recommend you use some Tetrahedral elements on this model around the joint, and have hex elements on the tubes.

One job I had five years ago was to find a design that could support a large load at the end of a long beam. In the image on top, the beam was initially horizontal. This design could not support the large load. The material model includes plasticity and you can see in the zoomed in view that there are tet elements in the joint, and hex elements on the tubes.

Three slice operations, put the parts into a multibody part, and you have a successful mesh in no time.

Rather than chamfers, this geometry used blends to represent the welds between the tubes.