Is a transform constraint with rotate mix 100 and Relative
what you want? Relative adds the target bone's rotation to the constrained bones.
I guess your problem is what rotate mix != 100, then the rotation flips over to the shortest way around. That happens because the constraint is mixing between the constrained bone and target bone rotation. You could use 100, -100, 200, -200, etc to avoid that, but it may be too much rotation.
There isn't a mode for a transform constraint to just add it's transform values to the constrained bones. That might be interesting, we'll have to think on it. It might be inconvenient if the target bone needs to be near eg world 0,0 and you have more than a couple of those.