Below is how it is in action: https://youtu.be/GLEl1CoKJqA
Still need a bit tweaking but I think its close to what you need.
Addendum: I think it would look and feel better to animate this using RootMotion enabled. This way, the animation would drive the CapsuleComponent movement when walking off ledge and landing after. Here’s more info about using Root Motion.
EDIT: Here’s in action using RootMotion enabled from everything: https://youtu.be/_PCj3BHtOjo