>>1021107
-Create some blobby base head
-create a noodly limb that's a spearate free floating mesh, a basic cylinder with whatever chains you need for deforming it, But just the one noodle/subdiv cylinder uncapped and widened at the base
-shrinkwrap constraint from the limb's root bone to the body mesh, plus shrinkwrap on a vertex group that has the mesh's uncapped base
-this gives you a noodly blob that's a protrusion from the body, that you can reshape at will
-Build a hierarchy of such blobs. One from the head that is the body, five or so that can attach to either head or body and are, at will, the limbs or tail, three for each such limb that are fingers
-Eyes, eyebrows, brow, claws are all meshes that shrinkwrap their root bone to the corresponding finger or head.

In this simply example I use b-bones for the limb chains.

Mouth can be done with a "sonic mouth" (look it up) setup, basically you have one version of the head without the mouth that's used as a shrinkwrap bases for the actual mouth geometry and controllers, or you can do it was the same kind of free floating mouth linked in the original question (which is also a shrinkwrapped object)