"On the fourth beat count 4 (and) That's your lowering in the neutral position and the flexing of the knee ready to punch off into the next step. If you try to lower whilst your none standing foot is still to the rear. The following step will be weak. This might suit a Social dancer but not a competition dancer."
Actually this lowering while the trailing foot is still trailing is exactly what top comeptitors do - their arriving foot is flat before the trailing foot has closed. The do not get stuck because they continue to bend the knee as the feet collect - though the good ones have their body already beyond that foot before the trailing foot finally passes it.