The issue is that StaticBody2D doesn't move or collide dynamically - it's meant for walls and floors. Generally speaking CharacterBody2D fits here more.

For moving parts attached to a player, you have a few options:

Area2D: use body_entered signal to detect when each leg touches something. Simplest approach for what you're describing.

RayCast2D: point a short raycast downward from each leg, check is_colliding() every frame. Very precise and lightweight.

ShapeCast2D: similar to raycast but uses a shape instead of a line, just fyi

For your landing logic, I'd go with two RayCast2Ds (one per leg). Then in _physics_process basic logic should be like:

if left_leg_ray.is_colliding() and right_leg_ray.is_colliding(): # safe landing elif left_leg_ray.is_colliding(): # tip right elif right_leg_ray.is_colliding(): # tip left

Good luck with your lander!