Custom Bone rig for an npc with a humanoid

hello
im trying to make a custom npc using imported bone rigs and animation from blender, i used the avatar importer from roblox and selected custom and imported the file and the animation and it worked fine, but the thing is it has no humanoid and i want my npc to have a functional humanoid.
i tried to just add a humanoid to the model and played the animation from the animationcontroller but the animation didnt play, then i tried to play it from the humanoid and again it didnt play, also tried removing the animationcontroller but again didnt help, then i tried to place the humanoid inside the rootpart and the animation did work but the humanoid was not functional, i tried looking for answers and i saw a post saying that custom rigged bones is not supported on humanoid, i wanna know is that true? and if not how do i do it?

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