Title says it, I'm trying to find a simple way to create vertices where two objects intersect and delete the leftover internal planes, then join the meshes so that I have one hollow mesh to sculpt. The reason I need to know this is that on my first sculpt I just joined the meshes, but it didn't create vertices at the intersecting points so when I went to sculpt it just overlapped the meshes as you can see here in the neck.

here is what I am working on now, it needs to be 1 hollow mesh

edit: Solved, after searching extensively for the simplest way to do this, @denis has explained a simpler process of doing this without boolean modifiers, which makes this question differ from the other.