Looking for Procedural IK & Animation Expert for Tripod Alien Machine Foot IK

Hello, I am developing a very popular game called War of the Worlds which has over a million views on YouTube now and is a highly anticipated game. I am looking for someone who can help with an issue I have tried tackling since the beginning which is the foot placement of the alien machines. Currently they are animated with no in Unity IK. In this video (01:04) :

you can see how the feet tend to slide and clip through or float above the ground. I am trying to find someone who can make the feet grounded depending on the terrain to prevent the feet sinking through & floating issues. I've tried final IK and some other systems to no avail.

I will pay what is needed to get this accomplished in a quality manner.

You can contact me through here, or through discord: @Raf#0971

Payment amount and methods will be negotiated privately.