What are the best practices for a pier foundation on sloped bedrock?

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I want to build on a sloped lot where granite bedrock is either exposed, or up to 3-4 feet below the surface. I believe I want piers, as I don't want to blast the site and the slope would require very tall stem walls. Piers should also help with radon and water running down the slope. Generally, the advice I've seen is to drill/pin rebar with epoxy and cover with concrete, but then how do you attach it to the vertical posts etc?

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