My fitter tells me your foot should remain relatively fixed position through the pedal stroke. So, in general it shouldn’t be a problem, but it may be causing an affect because there is ankle movement or attempted ankle movement.
One of my ankles isn’t perfect after a bad accident and doesnt have the same rom or strength as the other side. Can tell the difference when kicking hard in swimming but haven’t actually thought about in years, so no difference in cycling. It’s not as bad as yours though, as I had good physio straight after as a kid and its been much longer since it happened.
If you’re moving your foot a lot in the pedal stroke, you may have a saddle too high and need to make a conscious effort to not move your feet (think shuffling your feet on carpet as a kid in socks to create static). Can’t refute any of the advice given above, my cleats are as far back as they go, not because of the ankle but I could see it helping.