Specifically, with your shoes on, seated without dipping either hip, your leg should be slightly bent when your heel is on the pedal and the pedal is at the low

Specifically, with your shoes on, seated without dipping either hip, your leg should be slightly bent when your heel is on the pedal and the pedal is at the lowest point. Yes, all of that detail matters! A full bike fit is best but the above will be a good start.