It sounds like you are connecting to the ry of the pole vector object. It will rotate around itself, because that's where the rotate pivot is. You can solve this by parenting the pole vector object to another node that is located at the footprint control, and connect the ry to that object.
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If that's the behavior you want, then yep! It should create a stable relationship for the knee.. If you want it to not follow, then I would just leave it in parented and don't worry about connecting the rotations.
No, that's fine. If that's what you want then just parenting the knee control to the foot control will give you that result.