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Quick followup question: which version of Godot are you using? I did some really quick tests in Godot 3.3.2 stable and could not reproduce the issue, but they were quick tests, so I was not necessarily expecting to instantly be able to reproduce the issue. I have a more complex project for testing that I will check with soon, but I realized I forgot to ask which version of Godot you are using.

Yes, including IK modifiers with joints array.

I'm using Godot 3.3.2 stable mono