Dynamic Parent is an add-on for Blender by RomanVolodin that handles animated parent-child relationships between objects through the Child Of constraint. It lets you quickly enable and disable those relationships, and when a relationship is disabled the child's position relative to the parent is preserved.
The workflow runs from the selection: pick two objects with the child selected last, then click Create to add the constraints and animation keys. Move to another frame and click Disable to switch the constraints off for the selected objects. Because a constraint holds a single transform matrix, disabling calculates that matrix for the child, so a new constraint is created each time rather than reactivating an old one.
The Clear menu covers cleanup. Clear removes all DP constraints and their keyframes so you can start again, while Bake and Clear bakes object or bone animation before removing the DP constraints. The add-on requires Blender 5.0 or newer; earlier versions of Blender can use Dynamic Parent v2.0.2 or earlier. It is released under the GNU General Public License v3.0 or later.