Is there some unspoken trick as to how you keep the feet from intersecting in the ground? My trouble is that the IK affects the feet in the littlest bit and I am forced to modify from there, and it can get really difficult to differentiate where the ground begins and the feet end.
You can use Blender’s snaps when editing feet bones and choose Face snapping. Assuming you’re dealing with an uneven ground, that’s probably the easiest way to go.
That is the right way to make it!