UE 5.3 Control Rig: How to make a proper dog hind leg IK?

[Sean3Dmonkey (Cocoflakes)]

Hello, is there a way to make a proper dog hind leg IK with Control Rig?

1. An IK that will have a pole vector (yellow drawing)
2. A control at foot (orange drawing)
3. A rig that will allow the toes to spread a bit when it makes contact with the ground. (This can be FK for the animator to control. No need for automated toe spread.)

I tried the IK Three Bone, but the leg flips.

Other Primary and Secondary axis will stretch the bones.

FABRIK mostly worked, but the toes did not incorporate well.

I tried this Trex set up, but it is very hard to animate the foot.

I tried this, but the leg and feet were hard to animate with.

[Sean3Dmonkey (Cocoflakes)]

I will need to watch the Trex tutorial again. This animator used the tutorial and the rig worked for him.

Unreal Engine 5 - Animating T-Rex