79pmooney

My right leg is 1/2" shorter (from birth and is a scaled down version of the left). I use 1/2" lifts in all my right shoes, either under my heel or as an insole insert or modification. My right cycling shoes get a 1/4" shim between sole and cleat. (I use as much lift as works for the heel of my cycling shoes but most cycling shoes aren't happy with a lot, let alone 1/2".) I raised my seats half the shim thickness. 1/8". Been riding a dream since the first ride. No acclimatization at all. Just "right".

I have both shorter thigh and shorter calf. Those shims work wonders. I get to stand straight and be straight and in line with the bike for the first time ever (in my late 50s). Shorter thigh changes things a little. The proper fix might be a little different but it's out there. I remember reading it when I was researching shims as I was enlightened but since it didn't apply to me, I've forgotten. Do some research. Many have had your issue and now ride with the proper solution.

I do not know what "rom" means so I cannot help you with your foot on pedal issue. Have you considered retention? Clipless pedals or toeclips? Forgive me if it is obvious that rom precludes those options.