You'll have more luck by calculating it as an average plane of the heights. Imagine this but not a ramp, and it's steps. The normals will all be pointing straight up, so the angle of the body won't change. Whereas you'd want it to angle upwards because the front legs are higher.

In this Video i had calculated the avg normal by summing up all 6 legs and dividing it by 6. The height is calculated with just one ray, transform.basis and a ground_offset.

Tilting solved here too, I may have gone overboard with it 🤠

I love procedural animations

Are you using an imported model with bones but no mesh or is there a way to setup new bones in Godot alone? Didn't see a way to do it when I checked.

It's a rig /skeleton made in Blender and imported to godot. I haven't seen a way of adding bones to a skeleton in godot.

well done! Makes me want to learn godot

Thank you! Learning Godot is the easy part of the whole process. 😅