How do I make a wallclimb system similar to rogue lineages?

I was playing rogue lineage a few days ago and I noticed how cool it was just to be able to climb on walls. This wasn't just a custom controller similar to what they did here, but instead you would jump onto the the wall and you would start climbing it instead of changing the gravity. I attempted to replicate this by using BodyVelocity and making an invisible platform whenever the user has stopped moving, but I get a few errors.

• sometimes the raycast does not register the wall (possibly could switch to touched, but then I would have to list every wall in the game and that would be a hassel)
• the player would keep floating in the air even though clearly the raycast shouldn't be seeing anything (once again, could benefit from touched but im not really sure)
• forward/backward cannot be pressed the sametime as left/right movement
• (rare) sometimes the player would jump to get over an obstacle and they would start "climbing" (floating)

PLEASE give me tips on my code, I am a new learner of rblx lua so bare with me. (really sorry for the long code)

local function platform(bool)
	if not char:FindFirstChild("platform") and bool == true then
		local platform = Instance.new("Part")
			platform.Name = "platform"
			platform.Size = Vector3.new(2.1, 1, 1)
			platform.Position = Vector3.new(char["Left Leg"].Position.X-.5, char["Left Leg"].Position.Y-1.534, char["Left Leg"].Position.Z)
			platform.CastShadow = false
			platform.Transparency = 1
			platform.Anchored = true
			platform.CanCollide = true
			platform.Parent = char
	elseif bool == false then
		local platform = char:FindFirstChild("platform")
		
		if platform then
			platform:Destroy()
		end
	end
end

InputService.InputBegan:Connect(function(key)
	if key.KeyCode == Enum.KeyCode.Space and climbing == false and humanoid.WalkSpeed ~= 0 then
		if not char then return end
		local startTime = tick()

		connection_ = InputService.InputBegan:Connect(function(input2)
			if input2.KeyCode == Enum.KeyCode.Space then
				eligible = true
				connection_:Disconnect()
			end
		end)

		repeat wait() until eligible == true or tick()-startTime > .75
		connection_:Disconnect()
		if tick()-startTime > .5 then return end
		
		local origin = char:WaitForChild("Head").Position
		local result = workspace:Raycast(origin, direction, params)

		if result and climbing == false then
			print("found")
			humanoid.AutoRotate = false
			climbing = true
			local part = result.Instance	

			-- play anim here
			local newTime = tick()
			
			platform(true)

			connection = InputService.InputBegan:Connect(function(input)
				if tick()-newTime >= 7.5 then
					connection:Disconnect()
					destroyAll()
					platform(false)
					humanoid.AutoRotate = true
					return
				elseif input.KeyCode == Enum.KeyCode.W then
					platform(false)
					local forward = Instance.new("BodyVelocity", HRP)
						forward.Name = "forward"
						forward.Velocity = Vector3.new(0,15,0)

					repeat wait() result = workspace:Raycast(origin, direction, params) until not result or not char or isDown(Enum.KeyCode.W) == false or tick()-newTime >= 7.5

					if not char or tick()-newTime >= 7.5 then connection:Disconnect() destroyAll() platform(false) humanoid.AutoRotate = true return end
					
					if not result then
						connection:Disconnect()
						forward.Velocity = Vector3.new(15, 12, 0)
						wait(.5)
						destroyAll()
						climbing = false
						humanoid.AutoRotate = true
					else
						forward:Destroy()
						platform(true)
					end
				elseif input.KeyCode == Enum.KeyCode.S then
					platform(false)
					local backward = Instance.new("BodyVelocity", HRP)
						backward.Name = "backward"
						backward.Velocity = Vector3.new(0,-15,0)
					
					repeat wait() until isDown(Enum.KeyCode.S) == false or tick()-newTime >= 7.5

					if tick()-newTime >= 7.5 then connection:Disconnect() destroyAll() platform(false) humanoid.AutoRotate = true return end

					backward:Destroy()

					platform(true)
				end

there is more but its really long (just for pressing S, D and A.)