Modelling for animation/rigging

I’ve modelled a few characters, but after rigging/skinning the upper limbs when I start to animate them, the limbs get all twisty and messed up. I suspect this is to do with how I’m modelling as well as rigging.

So. In your experience, what’s the ideal neutral position to model for a biped’s shoulders, arms, elbows and hands if it’s going to be animated later? If there’s no ideal, what are the tradeoffs between straight T pose versus relaxed T pose? And where should the damn elbows be pointing?

Thanks in advance.