I have the same problem from a stress fracture which has now led to metatarsalgia, so the flexion in my ankle is now a little limited, cant squat all the way down anymore, not even in the slightest, but I walk and run normal which is a relief. Don't know what I'd do if I had to penguin walk everywhere!
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it's a big relief I must say that you can walk and even run as my doctor suggested me to avoid walking and running is a dream now. for exercise I can only do the cycling. but yes I can do squats but not the lunges as it put pressure on the knees which is kind of became the problem area for me.