Your pigs are cute.
How about just free motion stitching just inside the pig and grass? Just do a double line, go around twice. You don't have to be careful to stitch on the same line. For the tails, lightly draw with a pencil how you want it, then, free motion that also.
You said that you had crinkles in the legs, well, when you wash the quilt, you will have many more crinkles and won't see those.
Relax and have fun with it.