Me too, on so many levels.
Given that
Metal Gear 84 is able to operate as either bipedal humanoid or as its conventional chicken walker mode, there's proof that somewhere in this mess is a concept that suits everyone. Its an incredibly simple transformation thats literally just the equivalent of arching your back and folding the arms out and the head on top.
This is honestly not hard to do at all, as I've proven playing with other concepts similar to this in the past:
First this old potato:
And here a slightly more grown up, albiet not particularly elegant version of it.
Tidying it up and adding an ED209 like mode and a humanoid mode really isn't that much work.
The trick is mostly going to be in the hips, as they say, as well as the thighs. I'd need to know the exact scaling I'd be working at so I know how much give and play there is, then from there develop joints that meet the needs. If this thing is taller than 1.8 meters, what is currently the thighs can become a sort of prototypical hip joint, kind of like the sliding rail on Rex between its T-axis crotch block and the thigh blocks, which affords it some wriggle and give the same way human joints work allowing its legs to have enough give and take when walking and allowing some stability affordance compensation when walking given how small its feet are.
Again, what's really needed is a spec. A cold hard spec.
Height. Weight. Loadout. Mobility. Theatre. Envelope. Duration. Logistics. Characteristics. Fuel. Technologies. Opponents. Cost. Manufacturing. Affordane. User. Collaboration. Telemetrics. Information sharing, information control.
Not "this is what it uses" so much as "I need it to do this without being this, while doing this".
Kind of like you ask with any designer, really.
The problem is you don't know what you want.
I can make it do two things but I can't make it BE three things, you know?
Before you know it we'll be putting screen doors on it so the men can stick out their guns and shoot people.
Become less indecisive.