Ar e you sure that there is no pain issue in his hips, for example, where standing on only one back foot will be painful
If you are worried about being kicked, you might try practicing picking up his feet with a soft rope. Use a thick and soft lead rope, and after you have moved it around his body a bit to make sure he is ok with it over and under his body, you wrap it around his back leg, let it drape down far enough to go under his fetlock, then carefully apply pressure there , and release. Then apply pressure until he picks it up a bit, then release. Keep doing this and increasing the amount of lift and time until eventually you can lift his leg up to the height it would be for hoof picking, and set it back down.
If he kicks out, just hold the rope steady, or release and drop it if he really wigs out . Since you are holding both ends of the rope in your hand, and there are no loops or knots, you can let go and it will slide free if there is any panic.
Watch this video (and disregard how he has the leadrope LOOPED in his hand; a big no-no)