UE5 - Still not fixed IK Bones with Animation Retargeting??

I’m having issues with retargeting in UE5 where the IK Bones don’t retarget properly. I’ve searched far and wide and it seems many others have had this issue (unresolved) for well over a year.

I’ve tried adding the CopyBonesModifier, but that just makes the character look like he’s floating over the ground (the feet don’t plant properly).

Is this issue still not resolved?!? Or has somebody figured out how to make it work? Seems crazy something as fundamental as this wouldn’t be fixed by now (considering a lot of people will retarget and us foot IK).

Anyone else still struggling with this? Did you find a fix?