I have some additional information. This morning was the first workout with stepups since the post and it was a 5x5 lower-body day that ended with stepups, so I was good and fatigued for these.
I set up a bench in front of a mirror to get a good look at what was going on. It seems like I was mistaken -- The foot is following the knee not the other way around. I noticed that my left knee started to wobble a bit (left to right movemement of maybe 2-3" off center in each direction) before my foot wanted to roll to the outside. My workout partner said he didn't notice any knee movement during squats but those were first in the workout.
I hope that helps and I appreciate the time that has been spent on my issue. Thanks!
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