Best way to make an NPC character's feet lock/snap to the ground on uneven terrain?

Development Character & Animation
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1

I have a bidep NPC who walks around the map using a root motion based locomotion system. I want the feet of the character to react to ground with uneven height and slope. I’m a little overwhelmed by the options: Foot Placement node, Control rig, Two Bone IK node, Leg IK node… What’s the most appropiate approach for what I’m trying to achieve?

2

You can consider following the steps in these videos:

Here’s another one with less explanations but is a shorter video: