I've been playing this game for a few days(well, kind of non-stop) and something slightly annoys me everytime I see the mechs move, and that is the feet don't "adapt" to the ground. I know at the current state of the game it's definitely not a priority but it would definitely improve the immersion in future.
You will probably have to create an additional joint for the foot and then adjust it's angle relative to leg, parallel to ground. If you want to go all the way, you could also position the "toes" independently.
I made a simple drawing explaining the suggestion on my tablet because why not

