An Unnecessarily Long Digitigrade Leg Rigging Tutorial w/Animating Demo
Channel: omtay
Date: 2020-09-15

The first 15 minutes is the full tutorial, then I go over it again in the next 12min or so, trying to clarify some things, but its basically the same as the first. The last section is animation practice basically(of which I am not proud of as I kinda gave up, but whatev). 
I finally figured a way I liked to rig digi/animal legs, so there are probably better ways, but I think this ways a pretty simple and quick way to get it done if you're just starting out.
I just got excited and wanted to share.
I recorded this right before 2.9 came out, so I'm not exactly sure if it'll work the same, but I think it the workflow will be generally the same. I haven't checked if the constraint stuff changed much. If there's anything you need help clarified, feel free to ask.
One thing I will stress is with the copy rotation constraint. Try to keep foot bone and ik controller aligned best you can. Like mirror opposites.