This package contains the script used to make character correct put feet on ground. It adjust spine position to make placement realistic. It also adjust foot rotation. You can buy this package at: https://assetstore.unity.com/packages/tools/animation/foot-placement-ik-108510
The complete solution to right place feet on ground and adjust rotation. This package includes the script to calculate and put feet on ground and the Demo scene shown in the video.
Animation Curves were added to animations to smooth foot placement.
Any questions or suggestion, please contact me: firstname.lastname@example.org