I figured it out! I knew there had to be a setting for this!
There is a hidden setting in the skeleton editor under “Options” called “Show Retargeting Options”
enable it, then scroll down to you IK bones and set them to “Animation” (notice how the Pelvis is set to Animation as well? Looks like this is what let’s it translate around, we want the same thing for our ik nodes)
Now save your skeleton and presto! It works!
I was THIS close to giving up. Now I can animate my IK bones directly in maya, this will make retargeting 1000x easier, and will allow for much more natural feeling weapon animations.