Hi, it’s been a heck of a few days, and I missed your responses. I would recommend first fixing the leg issue where it lags behind the torso.
To fix this, you’re gonna make sure that your raycast is from the torso down. When the legs step forward, then they should be directly under where the torso was when they started stepping forward. You might have to lower the walkspeed for this.
You might find the rotating fixed. I think the physics were messing with it. I would heavily recommend to anchor all parts and not use a humanoid.
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