@almostfm That makes sense. However, Andy figure and other figures such as V4, M4, etc, don't have this issue. If you take Andy for example, it doesn't matter how long I stretch its arms and feet while IK is ON, reopening the project with saved poses will stay intact, IK chain "goals" will stay in the saved position. If I try to do the same with my custom figures and save the pose while IK is ON, upon reopening the project "goals" will be rotated in some other position.

I'm guessing this has to do something with the fact that IK re-parents goals to the body, so I am not sure what I'm missing.