Update to my post from last night: I managed to fix everything, though there are still some minor issues I'll deal with while I figure out the shoulder and neck joints; Found a more intact previous leg prototype, it's just missing a foot. Now it'll look less lopsided. Hips are less disproportionate now. This is about as small as I can make them, I could've gone to 30mm but did 32 because I didn't want the thighs touching by default; Torso can rotate left and right now; Legs can actually move slightly inward, though I forgot to flatten the bottom of the hip joints so they sit flush with the top of the leg; Did an articulation test and... oh damn-