I've been following Freeman for some time now. He is extremely passionant person, and have a great understanding of what makes a good character controller. He has been working one for some time now, but have unfortunantely run into various problems (mastodon) with how Godot Engine handles physics.
While I am not a physics guy, and to be honest, I am not totally familiar with everything he is doing, I do appreciate his research. And him reaching out for help on the matter seem amazing!