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I swear this used to be a feature by default and maybe my preferences got screwed. When using the option of cursor to selected with an edge selected how do I make the cursor copy the rotation as well like in the image?

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  • $\begingroup$ Snap Cursor to Selection operator never used to do that as far as I can remember. Maybe you used some add-on for that? It's definitely possible to write an operator for that using Python. $\endgroup$
    – Martynas Žiemys
    Commented Nov 10 at 9:27

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Reset to default
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You can interactively position the cursor using Shift + RMB dragging. It's also possible to use snapping functionality while in that operation by holding Ctrl as well. So if you set snapping options to Edge Center together with Align Rotation to Target, you can do that.

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I am holding Shift , then hold RMB and start dragging and then press and hold Ctrl for snapping in the GIF.

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