The first terrestrial animals used sprawling locomotion. Is the knee and elbow jointed perpendicular to the joints in erect locomotion? It is easy to assume so, based on how the limbs move in sprawling locomotion.
There was a question on exactly what is meant with jointed perpendicularly. It means the joint angle is perpendicular. Here is a rough ugly sketch, does not have to be a joint like that, question is if the movement in the joint is in any way in that direction.
Here, Baier seem to support that the knee and elbow joint in sprawling locomotion supports movement perpendicular to the simple hinge joint in erect locomotion, which is exactly what question is asking.
"The elbow was not a simple hinge; motion entailed substantial abduction/adduction"
Baier, D. B., & Gatesy, S. M. (2013). Three-dimensional skeletal kinematics of the shoulder girdle and forelimb in walkingAlligator. Journal of Anatomy, n/a–n/a. doi:10.1111/joa.12102
Edit: the "diagram" caused some controversy in comment section. It was a copy+paste, simplest fastest possible I could make, in response to comment "What do you mean by "jointed perpendicular"?", because I considered that comment to be asking something that is clear. It is meant to show the perpendicular movement direction, not the joint design. It is not needed for the question, at all.