How to reproduce:
1. Open the attached project '1297373.zip'
2. Load the 'New Scene'
3. Select 'green' GameObject
4. Enter the Play mode
5. In the Scene View observe the 'green' GameObject's Angular Limits and axis

Expected result: Hinge Joint Limits restricts GameObjects' rotation, and axis doesn't go outside the Angular Limits
Actual result: Hinge Joint Limits doesn't restrict GameObjects' rotation, and axis goes outside the Angular Limits ('red' and 'green' GameObjects swaps places)

Reproducible with:2018.4.30f1, 2019.4.16f1, 2020.1.17f1, 2020.2.0f1, 2021.1.0a9

Notes:
- Not reproducible when the Hinge Joint Use Limits' checkbox is unchecked
- Reproducible when Hinge Joint's Lower and Upper Angles are '-180' and '180'