Procedural Footsteps on a Generic Model

Is it possible somehow to implement procedural footstep animations on a Generic rig?
On Humanoid avatars, when the avatar is turned (on desktop with the mouse) the legs will orient and move themselves in a way that looks natural. From what I can tell, this functionality is disabled for Generic avatars.
Are there any plugins or examples to implement this manually? Some way to point VRChat to the right bones to animate? The Generic rig already has animations for walking, running, etc.