At what point (series) did hands become swappable/removable?

What figures/series have hands that are easily removed and swappable without breaking the pegs? In other words, when did this functionality begin? I am really only wondering about the Elite and Legends lines (though others may want to k kw about the basics and other lines).

For older figures that do not have easily swappable hands, what is the best method to make use of the new hands anyway without breaking the pegs and/or having a loose wrist? Replacing the entire arm? Open to all expert suggestions.