Anybody managed to make foot IK with the new 4.6 IK nodes?

I can't for the life of me figure out how I'm supposed to do it.
What I'm trying to do is basic foot-planting IK that plants the feet to the ground when they're on the ground. I get that I can play with the influence through a custom animation track, but what about the poles? My character isn't always facing the same direction, so how do I make sure the poles get updated? And what about the XZ movements? Currently the entire IK chain gets snapped to the XYZ of the target node, and there's no way to isolate the Y axis.

Anyway... how is foot IK for a human characters supposed to be done? All the videos I see are about spiders and tentacles, please advise