https://www.nature.com/articles/s41598-021-03429-y

Abstract
To reconstruct locomotor behaviors of fossil hominins and understand the
evolution of bipedal locomotion in the human lineage, it is important to
clarify the functional morphology of the talar trochlea in humans and extant
great apes. Therefore, the present study aimed to investigate the
interspecific-differences of the talar trochlear morphology among humans,
chimpanzees, gorillas, and orangutans by means of cone frustum
approximation to calculate an apical angle and geometric morphometrics for
detailed variability in the shape of the talar trochlea. The apical angles in
gorillas and orangutans were significantly greater than those in humans and
chimpanzees, but no statistical difference was observed between humans and
chimpanzees, indicating that the apical angle did not necessarily correspond
with the degree of arboreality in hominoids. The geometric morphometrics
revealed clear interspecific differences in the trochlear morphology, but no
clear association between the morphological characteristics of the trochlea
and locomotor behavior was observed. The morphology of the trochlea may
not be a distinct skeletal correlate of locomotor behavior, possibly because
the morphology is determined not only by locomotor behavior, but also by
other factors such as phylogeny and body size.

> https://www.nature.com/articles/s41598-021-03429-y

See the comment there:
"Interesting comparative article, but if we want to "understand the evolution of bipedal locomotion in the human lineage", we must first realize that bipedalism is not unique to the human lineage:
most likely, early hominoids were already bipedal,
- not for running over open African savannas as traditionally still often believed,
- but simply for wading upright in forest swamps and for climbing arms overhead in the branches above the swamp, as we still can see in bonobos wading bipedally in search of waterlilies, and in lowland gorillas wading for sedges,
google illustrations e.g. "bonobo wading" or "gorilla bai".
The Trachilos footprints on the island of Crete c 6 Ma show that hominoids that predate the Homo/Pan split c 5 Ma were walking bipedally there, see the recent paper of Uwe Kirschner cs 2021 Scientific Reports 11, 19427.
For an overview of how hominoid and human bipedalism evolved, google e.g. "ape human evolution made easy PPT Verhaegen" (+ references therein).