Hey, I was experimenting with ik solvers and made this little prototype:
It’s based on the regular Character, legs just follow along with some additional casts for finding contact with floor. Weird things happen when no floor is found 
Additional legs can be added easily, they just need a number in component tag to help out with move order sorting.
Was thinking about making a proper marketplace asset from it but I’m just too busy/lazy.
Hope someone finds this useful :*