RBE3 is basically distributed coupling in Abaqus and CalculiX. However, it has some significant limitations in CalculiX so we usually advise using rigid body constraints instead (if you don’t mind them making the surfaces rigid). You could try with kinematic coupling constraints (RBE2) too.
You can also put two node spring elements (like SPRING2) between the REF NODES of these constraints. The rotational part will be tricky though - CalculiX doesn’t have “true” rotational DOFs and torsional springs. Here are some workarounds: Torsional Spring - SPRING2?