Been spending some time refining things, so I built some visualizers for debugging. The cyan line represents our force potential. We can push our body from anywhere within that line by adjusting leg/foot muscles. It's a pretty small area. Without taking steps and repositioning the legs, even a strong breeze could tilt our character over.
This is what makes this work a pain lol. I just care about it feeling good and looking good, but approximations of real world physics keep producing the best results.