Shoes Warp Badly When Moved

I have IK arms that work properly. I can drag the hands around and the IK works.  With my feet, I have  independent shoes with an anchor point on each leg at the ankle (each leg is also independent). Each shoe has a draggable heel. When I drag each shoe, they warp as far as I can move them (I want NO warping at all and I don't know why the software would assume I ever would).  I just want my shoes and legs to never warp but just bend like my arms do. The shoes keep the one pixel of my anchor point on the leg's ankle and the rest of the foot will drag all over the canvas and look really terrible.

To me, it's odd that the arms and legs do not act at all the same even though they both have exactly the same setup (just a few more layers on the arms but otherwise literally exactly the same in every way). So if anyone knows how to make my shoes act more like shoes and less like water I can drag around, that would be so sweet.

After weeks of frustration trying to solve this myself, I thought I should finally ask.