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Ping-Pong-like Loop in Character Animation

Hello Community, first post here.
Im trying to animate a character in a reverse-forward loop using the animation sequence (see image attached).
The character has only 4 seconds of animation, then it loops, but not from the original starting position, so, in result it just “pops”.
I would like to reverse loop it, but i cant find an easy way.

Thanks for helping me

Any ideas? or I’m missing something and thats not the way to animate correctly.
please help!