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Are they welded? If that is the case then and you are doing it as a sub assembly then I would cut each extruded piece so they fit nicely and join them up. Like two mitered pieces.
If you do it all as one part then maybe it is much the same way. I would sweep the two shapes accross a trajectory that looks like the path you want. ie. 45 degree lines joining together.
then if you draw a shaft from the right plane and extrude Cylinder one (c1)then make a new plane 45 degrees from TOP plane and start c2 to extrude with the merge option checked to make them all one body
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