IK / FABRIK blueprint tutorial for proper foot placement with capsule collision

Not sure if this thread is still going, but I am having problems with this as well!

Mainly, If I just take a transform and use the FABRIK node to place my hand to that position ( globally ), my skeleton ignores every angle constraint and creates very unrealistic poses.
I cannot figure out how, in the examples of this thread, the joints are looking realistic. Help pls!

For reference, the unrealistic pose:
a02b558f9eeea24b814248eeba02e9cfbd38c6ee.jpeg

I am using the Skeleton from the ThirdPerson Example, and have tried to use the “Owen” from the Content Example, with the same results.
How can I add angular constraints to this?