I have two friends whom have noth had sons with Talipes. The first one only required physiotherpay twice to correct it so by the time he was a few weeks old his feet were fine.

The second friend's son had a much more severe case. He was diagnosed before birth and they knew his were serious. They said he would require surgery and did have multiple trips to Sydney from his rural home to be fitted with special boots that he did have to wear most of the time (even in bed) with only a few hours break from them. He is now 3 and it looks like he has evaded surgery. They were keen to operate but his mummy wasn't keen on that idea and persurvered with other methods of fixing his legs. When he was about 18months old I could notice as he walked differently to what you would expect him to (Drs said he wouldn't walk until they were fixed which was a load of bull) anyway now at 3 you can't tell by his mobility. And he did have a severe case.
After bub is born if you want someone to talk to my friend would most likely be happy to get me to pass her email address to you and let you know what it was like for them. Probably not a good idea at this stage however as it does sound like your bubba has a more mild case so treatment is most likely different to what my friends son was.

My friends son had bilateral congenital talipes.