I'm sure someone more knowledgeable will weigh in, but in the meantime, the simplest explanation is probably a misaligned cleat. Did you have a professional fitter set your cleats up? Even if so, it could still be off by a degree or two. I'd start by turning your cleat just a tiny bit. Before you start, outline your cleat on the sole with a contrasting colored Sharpie, so that you'll know where you started. (That's a handy trick when you replace a worn-out cleat, too.) If your ankle pain is on the lateral side (the side away from the crank), turn the cleat so that your toes turn very slightly more to the right. Vice versa if your pain is on the medial side (adjacent to the crank) - in that case try turning the cleat to point your toes more to the left. Next time you ride, have the tool you need to install your cleats handy in a jersey pocket. Tweak it every five miles or so if the pain isn't gone or if you feel any pulling or strain, sooner if the pain gets worse. If two rides doing that haven't fixed your issue, and if you don't get any better suggestions here, then a fitting is probably in order.
Also, for me, I've found it very helpful when riding to focus on weighting all four corners of the feet (first and fifth metatarsal heads, inner and outer heels), same as I do standing and walking. In cycling shoes, it's easy to put your weight unevenly across the ball of your foot, or even through the arch. As much as your feet are held rigid by cycling shoes, your ankles, legs and hips still need the support from your feet.



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