This application could be met with a little metalworking on the OP's part. I haven't seen a hardware product like I'm suggesting, but maybe it already exists.
With 2 tubes intersecting at right angles, and the vertical tube in the foreground, place a long U-bolt around the vertical tube, on top of the horizontal member, ends pointing backward.
Now if those ends were to be bent (down) around the horizontal member, in a vise or simple fixture beforehand, they would then be pointing forward. Add a simple strap across the front of vertical member, and 2 nuts.
The (double) U-bolt is shaped in a U in both planes, consisting of 3 U-bends (the original bend, plus two that are formed simultaneously during the bending). The double-U-bolt will fit right-angle crossings in any orientation.
This should result in a fairly secure attachment, not strong enough to climb on, but a slight crush at the crossing would make the connection stable.
The simple strap could be substituted with an exaust/muffler-type to create a more secure, heavy-duty grip at the crossing.
You may name this part the W-bolt, or W-bolt Clamp.