The Heading control shouldnt move with the pitch, what you're experiencing is that fantastic thing we all love known as gimbal lock, this happens when a channel reaches +/- 90 degrees. Since you dont want to use IK to control the arms, my only suggestion is to be careful about the order in with you rotate the channels IK Booster has something called Quaternion Booster that can help with this but i don't know the specifics of it, perhaps someone more qualified will be able to step in...
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