what would be the most efficient way to create a solid smooth terrain climbing system?

I'm working on a climbing system that would allow players to climb on uneven smooth terrain surfaces, similar to BOTW. I'm not incredibly versed on all of the ways that I can be able to replicate that system, but i'm thinking about duplicating and raycasting attachments to replicate a 'rock wall' type system. The player would then climb with their hands and feet on the attachments. The player would be controlling the humanoid root, and the avatar's arms and legs will snap to the attachments closest to the direction the player is trying to climb. Many things need to happen for this to work:

• the attachments cannot be too far from each other, or else the player wouldn't be able to reach the attachment. This makes the raycasting more difficult, because I need to fire the rays at the right angle so then the attachment would be close enough to the rest of the grid
• the player needs to climb on the wall as if its a simple, flat two-dimensional face
• inverse kinematics need to provide smooth animations for making the players hands and feet snap to the attachments
• when the player reaches the ground, it shouldn't lead to the game glitching, or leaving the player in the wrong spot.
• it needs to run smooth, which based on my amateur understanding of optimization, could possibly be a big bump on the road

for the first thing, I need to find a way to get attachments onto the wall in the most efficient way, i'm currently testing duplicating attachments, then moving and firing a ray towards the wall in that direction of the attachment's rotation in hopes that the resulting attachment is close enough to the grid to climb on. But I don't know if there's a more foolproof way to do it. I don't want to gauge or change the complexity of the wall that is being climbed because it should just work no matter what.

Does anyone have an idea on if there's any other method I could use to make this work outside of raycasting? Can I move an attachment perfectly along a smooth terrain face instead?

The reason i'm posting this is because i'm got a lot of incoming roadblocks I don't have the best idea of combating. Any advice for any of my questions is highly appreciated.