Hey,
I’ve also been struggling with this issue for months and have found a solution.
A quick fix, instead of using the CopyPose ABP, you can use a custom retarget pose from mesh ABP and offset the feet. But this will cause issues if you’re using a mix of UE4 & UE5 animations and is probably not good for performance.
The way to fix it properly, is to edit with the FK rig in sequencer, you can delete IK foot key frames and snap them to the foot bone key frames using the snapper tool.
CT Game has a tutorial here from 2:35 : https://youtu.be/VmaAeiA3pLI?si=ossui8ty4slexgWN&t=154
You don’t need to edit with FK twice like in the video because the bug is fixed. It takes a long time though because you need to do it for each animation. I hope there’s an easier way or epic could add a quick fix.