I think you would find it much easier if you align the axes of your components with the model axes - your main beam component has the X axis in the negative blue direction.
Also, it’s easier to keep track of what is what if you use named components instead of anonymous groups.
After the first Animate rotation, the bounding box of the whole model hasn’t moved, so the Y axis isn’t where you perhaps expected it to be - normal to the original X axis of the model…
And some of the moves shift the whole assembly along the X axis.
You might have to think about doing the Animate action in stages, applied sometimes to the whole, sometimes to the individual telescoping parts of the beam?
But I’m not an expert on DCs - this is just a few observations about where some of you difficulties might be coming from, rather than a solution, I’m afraid.