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The evolutionary history of an extrasolar system is, in part, fossilized through its planets’ orbital orientations relative to the host star’s spin axis. However, spin–orbit constraints for warm Jupiters—particularly in binary star systems, which are amenable to a wide range of dynamical processes—are relatively scarce. We report a measurement of the Rossiter–McLaughlin effect, observed with the Keck/HIRES spectrograph, across the transit of Qatar-6 A b—a warm Jupiter orbiting one star within a binary system. From this measurement, we obtain a sky-projected spin–orbit angle λ = 0.°1 ± 2.°6. Combining this new constraint with the stellar rotational velocity of Qatar-6 A that we measure from TESS photometry, we derive a true obliquity ψ = 21.82 − 18.36 + 8.86 ° —consistent with near-exact alignment. We also leverage astrometric data from Gaia DR3 to show that the Qatar-6 binary star system is edge-on ( i B = 90.17 − 1.06 + 1.07 ° ), such that the stellar binary and the transiting exoplanet orbit exhibit line-of-sight orbit–orbit alignment. Ultimately, we demonstrate that all current constraints for the three-body Qatar-6 system are consistent with both spin–orbit and orbit–orbit alignment. High-precision measurements of the projected stellar spin rate of the host star and the sky-plane geometry of the transit relative to the binary plane are required to conclusively verify the full 3D configuration of the system.