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So I'm making a fairly rigid robot where only the top most bone on the leg can rotation on Z and the everything below that can only rotate on the X, I read some other posts about not using rotation constraints but instead using the IK rotation lockers on the bone properties instead though it doesn't seem to work perfectly to how I imagine.

Rotation Locking

You can see here that the top bone which should only twist here is tilting. The other bones seem to work lock rotation perfectly.

Slight tilt

Thanks for reading.

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Figured it out. It was due to the Pole Target. Removing it resolved the issue.

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