Put any Mixamo animation (a dance, an idle, a gesture) on the GTA V freemode ped and get it as a .ycd for FiveM: fingers, legs, everything. Right in your browser: no Blender, no OpenIV.
Download an animation from Mixamo (FBX) or drop your own (FBX or GLB), watch the freemode ped play it next to the original, name the clip and the dictionary, and download the .ycd. Put it in your resource's stream folder and play it with TaskPlayAnim or your emote menu. In this video: Mixamo's Hip Hop Dancing, in game with /anim mic_hip mic_hip.
Animation: "Hip Hop Dancing" from Mixamo (Adobe).