Version 1.3.6:

Added new leaning options
FootIK produces ~zero garbage now

Version 1.3.5:

Updated published version to Unity 2022 LTS
Added footstep event delay option to the FootIK script to simplify and improve event triggering optimizations

Version 1.3.4:

Added a parameter to configure maximum ankle rotation adaption
Added a parameter to configure ik raycast margin
Edge-case algorithmic improvements
Added more getters and setters
Minor general improvements and fixes

Version 1.3.3:

Added "Ik Upwards Pull Back Down Extrapolation" parameter with which you can improve the behaviour of walking up on slopes. With this you can pull the feet back down to the ground in case they were floating when walking up on slopes.
Handled the case when broken colliders like BoxColliders with Size near ~0 in any axis are used for the ground in your Scene and logging an error message pointing out the issue with the broken collider.
Improved Documentation
Minor general improvements and fixes

Version 1.3.2:

Minor improvements and fixes

Version 1.3.1:

Improved interfaces
Fixed division by Time.deltaTime edge-case when Time.deltaTime is 0

Version 1.3.0:

Added terrain texture recognition support for the Effects Player
Fixed minor bugs

Version 1.2.9:

Improved Effects Player functionality

Version 1.2.8:

Support for combining iStep with Animation Rigging has been added, please see the documentation and/or watch the associated video tutorial if you want to integrate Animation Rigging with iStep.
Two new IK hint position computation algorithms added that you can choose from. The new algorithms compute the IK hint position based on bones. This can be very useful if you setup multiple animation layers with custom avatar masks where one layer is responsive for foot IK and the other for root rotation / hips rotation and other body parts. The reason why it will be useful for such setups is, because Unity doesn't recalculate IK hint positions based on overall blended bone transitions but uses the unblended IK hint positions from the layer corresponding for foot IKs instead. With the new IK hint position algorithms that you can choose from this will be resolved which leads to much better results when using such multi-layer animation setups.
Other minor improvements.
Updates to the documentation.

Version 1.2.7:

You will be able to switch between the currently default interpolation method LERP and the newly added interpolation method SMOOTH_DAMP
Foot placement can now detect and automatically react to dynamic moving objects even when minimum movement threshold is not zero and the player stands still in idle animation
Minor improvements to the included character controller regarding steep slopes and jump behaviour
Minor updates to the documentation

Version 1.2.6:

Improved footstep event handling
Improved algorithms in regard to body-position corrections

Version 1.2.5:

Fixed typos and tiny bugs
Updated demo scene(s)

Version 1.2.4:

Added new improvements to the core algorithms

Version 1.2.3:

Finetuned algorithms
Improved grounded check
Added debugging information at the bottom of the FootIKs inspector
Improved footstep events handling
Improved the included character controllers slope-handling, grounded function and edge-case handling for jumping against roof tops.

Version 1.2.2:

Finetuned algorithms
Finetuned the included character controller
Fixed a bug in the Effects Player
Fixed a bug in the Surface Slope Addaption Addon
Catched the PackageChecker issue involving the automatic installation of the verified versions of Cinemachine (2.6.14) and Inputsystem (1.3.0) which had internal compatibility issues

Version 1.2.1:

Updated the demo scenes
Improved the included character controller
Improved iSteps default settings
Minor code improvements
Updating manual

Version 1.2:

Major update and improvements on the core algorithms
Significantly more complete edge-case handling
Improved precision and robustness
Updated the demo scenes
Minor bug fixes

Version 1.1.9:

Improved algorithms for smoother IK transitions
Added an addon with which you can make your whole characters rotation adapt to the surface-slopes angle for example for specific animations like sliding

Version 1.1.8:

Code improvements and small bug fixes

Version 1.1.7:

Added a crouch-specific behaviour that can be triggered in case your custom character crouches (significant visuals improvement for characters that are crouching).
Changed the PackageChecker from the demo content back from DLL to a CS file.
Updated Documentation

Version 1.1.6:

Improved slope-based spine bending behaviour
Build created with Unity 2021.3.1f1

Version 1.1.5:

Added Slope-based spine bending behaviour
Updated Character Controller to Starter Assets Third Person Controller v 1.1
Code improvements and small bug fixes

Version 1.1:

Added Trigger-Collision-Interaction settings
Code improvements
Fixed some issues regarding Unity 2019
Updated Documentation

Version 1.0.2:

Extended Demo Scenes
Minor Clean-ups
Updated Documentation

Version 1.0:

HDRP, URP and Build-In renderpipeline support
Drag & Drop integration
Smooth foot placement
Robust body placement
Realistic leaning behaviour
Clear interface for footstep events
Integrated effects player
Fully extendable
Buffed starter assets Third Person Controller

iStep