Using the Bend command, you can manually place tangent corner bends on 3D lines.
Ribbon:
3D Sketch tab
Draw panel
Bend
Sets the radius for manually created bends in 3D sketch lines and included 2D geometry.
Sets the radius for manually placed bends in 3D lines.
The command is selected by default. Successively placed bends of the same radius are constrained to each other. Cancel the selection to prevent automatic constraints.