Define "perfect." Different terrains favor different feet for different reasons.
For rocky, rough terrain, you want a hoof with a rubbery, gripping bottom on an ankle with wide rotation and a flexible leg (letting them grip terrain at any angle without worrying about sharp stones). For persistence predators on flat ground, our foot is actually quite good - there's a spring tendon in our ankle that conserves our energy over long distances, and we're still capable of digging in our toes and the balls of our feet for a burst of speed. Ambush predators want spring-like legs and wide feet that give them incredible speed and leverage to launch themselves at their prey - inefficient over long distances, but no ambush predator will be going over long distances. Pursuit predators want strong legs for big pushes, caring little about the foot other than "it's big enough to push off the ground well, but not big enough that it's too heavy." Fleeing herbivores like similar legs to pursuit predators - if they can run as well as or better than the predator, they win. I don't even want to get into crazy things like aquatic or aerial creatures. The point is, there is no single "perfect foot" any more than there is a single "perfect creature." There's only "optimized for the environment."