I have next to no ankle dorsiflexion.
if you do a low bar powerlifting style squat where you sit your butt back - no, sit your butt back further, no, sit your butt back even further - then your shins should be fairly upright. hence, you should be able to do a low bar powerlifting squat regardless of your ankle issue.
i found i can do a fairly reasonable approximation of a front squat by getting my olympic lifting shoes modified so the heel height is 2x standard. it isn't a perfect squat. i have trouble pulling my hips through, which may possibly be related to my lack of ankle dorsiflexion. but it might not.
i have long femurs - just in case you were going to mention that next.
heel raise. i use that for deadlifts, too. i can't get my legs properly involved in deadlifts without the heel raise. of course my deadlift is weaker than it would be if i didn't have my ankle issues and i could deadlift from the floor with flat shoes... but i do have my ankle issues and i can't deadlift from the floor without heel raise. so oh wells. heel raise it is.
welcome to the forums.
actually... i'll dig out a vid for you...