I saw someone on Twitter posting about Arcee's cancelled G1 toy prototype, and someone asked how the conversion would work. The robot and vehicle mode on the actual prototype look to be separate models, and there likely wasn't a conversion mapped out.
The leg looks a little confusing at first: you swivel the knee 90 degrees, rotate the whole leg 180 at the hip, then swing it down. I think I forgot to include a step, I think you're supposed to extend the lower half downward for vehicle mode. Besides that, everything should be clear. I really like doing these technical drawings, probably expect more in the future.