Rigidbody stairs solutions?

Does anyone have recommended solutions for smoothly stepping up stairs while using a Rigidbody controller that can still react to AddForce?

So far the best one I've found is the solution by DawnsCrow games (

). But I would like to try more options, as I am struggling with getting consistent smooth results here.
Are there any other solutions that this community could recommend for Rigidbody controllers navigating up Stairs smoothly? (Other than simply changing Stairs collider to be smooth hehe)

Thank you!

 

Hello,

I guess you could modify the animation so the player lifts the feet higher than in regular walking. And go from there. Then the feet can move more up, and down in each step, letting the body flow smother up the stairs. If that's what you are aiming for.