The Ready State Virtual Mobility Coach is like having a virtual Kelly Starrett in your pocket.
Don’t worry about getting more dorsiflexion. Given the mechanism of the problem, you likely aren’t going to gain much. It is best to do your squatting with load to a box that allows you to keep your heels down (even if it is above parallel, doesn’t really matter anyway) and load up things like deadlifts and heavy carries and sled work to improve leg strength, even subbing split squats is a good alternative. Don’t get caught up thinking you have to squat below parallel with a bar on your back to achieve your personal fitness goals.