HELP! Two socks on circular needles

I am trying to knit these and am having a terrible time. :grrr:

I am at the heel turn and can not figure it out. :wall: I have frogged at least 5 times

I also don’t understand the gusset part after picking up the stitches.

Here is a picture of what they look like after I do the heel turn. I don’t think my needle is going the right way.

Any help is appreciated.

I haven’t done top down myself, but maybe this tutorial will help.