Catalyzes the transfer of sulfate to position 3 of terminal glucuronic acid of both protein- and lipid-linked oligosaccharides. Participates in biosynthesis of HNK-1 carbohydrate structure, a sulfated glucuronyl-lactosaminyl residue carried by many neural recognition molecules, which is involved in cell interactions during ontogenetic development and in synaptic plasticity in the adult (By similarity). Predominantly expressed in hypertrophic, prehypertrophic and proliferative chondrocytes at E12 but is down-regulated in epiphyseal chondrocytes. Belongs to the sulfotransferase 2 family.