Better way of marking a location for an object to copy In the picture you can see LH and RH these two circles mark where the IK markers(you can see the Right hand IK it is a sphere) for my hands and arms go. These circles are put exactly where they need to go for the hand with the pose I have saved to hold everything without clipping. 

Problem is I can not align the hands to the markers because the loc rot data seems to be different. It seems like the bones have some sort of local loc rot data. I tried putting the markers on the rig instead but I used a child of constraint and it maid my object hierarchy way too messy because with 20 of these guys it is confusing. Also that did not solve the issue with my left hand 

I currently think I could make a pose to get everything set up then apply my child of constraints so that everything is working. That goes like this


rifle use child constraint to the right wrist.
left wrist is child constraint to the LH circle. 


When everything is aligned it works perfect but getting it aligned is irritating because I have to do it manually. now imagine doing reload animations and doping the gun and it is just a mess. So is there a good way to automatically do all of this?
Suggestion.  Try a more casual approach if that is acceptable.


I believe no part of the wrist bone should touch the visible gun. The wrist  placement need not be in the mesh of the gun.   The placement could be near the gun.  See the abstract control note below. The wrist bone maybe able to be specified head to tail for placement.  
You might introduce a gun contact bone non deforming if that suits you.
Consider a [track to] constraint. To control wrist bone or connected bone.
You may need to worry about cyclic dependencies.  Whether real or Blender defect.  You may need to have non rendered abstract effector to control both the placement of gun and the hands.The abstract effector could be a simple armature with bones for the left and right wrist placement and location and rotation of gun.   This may eliminate cyclic dependencies if they arise.  
Currently your question does not show the hierarchical relationships or parent child relationships.
The placement of fingers tips can just be curled.