The "old" Houdini rigging system has the pose tool, which is an easy, fast way to move joints around at /obj level and set keyframes. Does KineFX have anything similar? Thanks!

I think you can imitate similar workflow with RigPose node in SOP, except motion path. Or you can try to promote obj level controls to move sop joints https://github.com/kamilhepner/kinefx_tools [github.com] ;

In first case, enter rig pose handle mode, click RMB in viewport then check or uncheck visibility of rig parts you'd like to use for posing. Arbitrary, add @Alpha=0.5 on skin to see controls through geometry.

Thanks for the suggestion! I hadn't heard of kinefx_tools before, but it looks very interesting. Will check it out.