Few ways i can come up:
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Have rootpart handle all collisions, so you don’t have to worry about for it to be at consistent height from the ground (world zero’s custom humanoid works like this with rootpart acting as whole body. the rig is just for visual that is locally handled. In easier words every mobs / character in their game is a tall cylinder on server lol)
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Shoot ray downwards every frame, and adjust the force to be at the right height (Luanoid by lpghatguy does this i think)