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Just a headsup. The ik issues have been fixed, so if you want a chance to test it try out a github autobuild and provide Lyuma some feedback. I have tested it and it works fine, except for in viewport solves. Should be fine for runtime use. The PR is at: https://github.com/godotengine/godot/pull/77469
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My biggest gripe with Godot 4 is setting up pixel-perfect but smooth camera movement. In Godot 3 this was doable quite easily with a vertex shader on a camera. In Godot 4 the same trick does not seem to work quite right. There is this proposal to fix this: https://github.com/godotengine/godot-proposals/issues/6389
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No idea if this will solve your problems, but with Godot 4 Physics being a bit undercooked you might want to try a different physics engine. Like Godot-Jolt: https://github.com/godot-jolt/godot-jolt
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Yeah you need to perform an import phase multiple times, so you have to start the headless engine multiple times. I modified godot-export to accomplish just this for my projects, it only does it twice, hopefully the --quit-after will help with this at least: https://github.com/Spartan322/godot-export