"drunk walk " with phisical animation?

Hello I am trying to make a sistem where your character has to balance itself to remain standing like a drunk person, I have already tested with the phisical animation component and , it can make your character look floppy but it is always stable while walking, I was also trying to make him grab stuff and grab on to stuff like in this example:

is there any way to make the character have to be balanced while moving or else he will fall down? if im not mistaken death stranding has a mechanic similar to what im talking about