did you get the chance to open the Slope warping control rig that was showcased during that last lengthy stream about unreal? it’s not perfect yet but it can improve for sure. the full body IK solver was doing most of the job with some constraints. the math there is certainly not all the math that you would do for the regular IK. the traces are even called inside of control rig. it has potential for all kinds of procedural animations for sure.