This won't be anywhere near as complex (or useful) as this one that Alin Vargatu posted, but maybe it will be of some interest. A few years ago I ran into a situation where an inserted Part was fully constrained with two Standard mates (Lock wasn't used, and this was before "lock rotation" on Concentric mates was available). Has anyone else run into this, or can figure it out if you haven't?
A coincident constraint (surface to surface) and a concentric constraint will work if the axis of the hole is NOT perpendicular or parallel to the constrained surface.
See example attached: