i know you didn’t ask me BUT HERE COMES SOME OPINION i have to stretch loads before i start squatting. got tight calves and sometimes my ankles get tight too. need to spend a good 5-10 mins just on them before i can get started. i always warm up before every exercise but would probably be able to wing it if need be… except for squats. always feel disgusting until i get loose.
look up some mobility stuff online and test each body part to see if you have anything in particular you might need to work on. other than that, just squat more. it’s definitely a skill and you do get better at it.