Tie between staves of a PianoStaff

[Kris Van Bruwaene]

Is there a simple solution for putting a tie between staves of a pianostaff? I 
need to tie a note of the lower voice on the upper staff to a note of the upper 
voice on the lower staff. I found this on StackExchange: 
https://music.stackexchange.com/questions/74383/lilypond-ties-across-staves but 
it's five years old and seems rather difficult to implement.
I use version 2.24.2 on Debian.