This is a procedural animation i did in UE 5.3 using Control Rig
It was featured in 80lvl : https://80.lv/articles/how-to-set-up-procedural-turret-animation-with-unreal-engine-s-control-rig/
Procedural animation
Save the foot locations to Array
Loop through all the leg bones and add offset from pelvis
Increase timings
Calculate Velocity