The ancestral state of terrestrial Spondylozoa is to have a backwards knee. However, this was misinterpreted several times independently to be the heel of a digitigrade leg. The original backwards knee is depicted correctly in iconic species such as the Nomad, so it's baffling that this has happened so many times without being caught--some instances being as recent as Week 24 (and it's a miracle that the correct backwards knee survived that long at all). Only a few species are left extant that have the correct backwards knee, mostly snappers and some dwellers (though at least one living branch of dwellers got misinterpreted).
Because this happened so many times and so inconsistently that it would be impossible to retcon and undesirable to plague or mass-replace, the only thing I can think of is to replace or redesign the most recent instances (such as in flunejaws and grubnubs) and find a way to explain the rest. I think a possible option would be that the "heel" is still a knee, and the additional uppermost leg segment is derived from part of the pelvis. Maybe the default hindlimb setup is something between a hip and a shoulder, having both flexible and inflexible parts, unlike the inflexible pelvis of tetrapods on Earth.