See the images below and notice the goat's legs. It does not seem to be very well connected to the body when the goat walks.
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Related to MC-221725
I think the issue is more noticeable here with the goat rather than the cow since the idea with the goat is that part of the leg is hidden by the fur. This is portrayed with two ideas that exacerbate the issue (which ends up looking somewhat unnerving): (1) the hinge point is set to near (but not on) where the leg would start under the fur, so the swing ends up in a larger arc and (2) the general length of how long the leg would be is shorter than how a cow's is, so the swing itself is longer to make the same ground for any movement.
These two effects expose more of the underlying model during movement than it does for other animals. In short, the best way deal with it would be to extend the leg up past the knee. I'm also realizing I spent way too long looking into this.
Can confirm in 21w15a