Sounds like it's something a bit over my head.
My original design was to put that "U" bend into the steel, then weld on two "legs" that then get welded to a piece of round tubing that is the pivot:
But I don't want to do anything that would weaken the steel, and I don't want my design to be in the "too hard to do" category and never get done/not get done right.
My current thinking is to put "S" curves into two lengths of steel like so, and connect the two together with a single welded piece.
As shown, I still use a 3" inside diameter radius on the curve, but I'm sure I can use something less aggressive like 4" or 5". Any thoughts on this design?