Radio frequency identification (RFID) technology has been widely used in Applications, such as inventory control, object tracking, and supply chain management. In this domain, an important research problem is called RFID cardinality estimation, which focuses on estimating the number of tags in a certain area covered by one or multiple readers. This paper extends the research in both temporal and spatial dimensions to provide much richer information about the dynamics of distributed RFID systems. Specifically, we focus on estimating the cardinalities of the intersection/differences/union of two arbitrary tag sets (called joint properties for short) that exist in different spatial or temporal domains. With many practical applications, there is, however, little prior work on this problem. We will propose a joint RFID estimation protocol that supports adaptive snapshot construction. Given the snapshots of any two tag sets, although their lengths may be very different depending on the sizes of tag sets they encode, we design a way to combine their information and more importantly, derive closed-form formulas to use the combined information and estimate the joint properties of the two tag sets, with an accuracy that can be arbitrarily set. By formal analysis, we also determine the optimal system parameters that minimize the execution time of taking snapshots, under the constraints of a given accuracy requirement. We have performed extensive simulations, and the results show that our protocol can reduce the execution time by multiple folds, as compared with the best alternative approach in literature.