The ankle has to yield before the body can move forward cleanly. Keep the heel available and let the shin travel.
The foot, ankle, hip, trunk, and arms work as a sequence whenever you stand, step, walk, or carry. Paying attention to the ground can clarify the whole task without forcing the foot into one perfect shape.
Slow the task down enough to feel the transition. If breathing, pressure, or control disappears, add support or reduce the range until the option becomes usable again.
Try this today
Make the idea practical.
Use stairs once today without rushing; notice whether the heel stays connected before push-off.