As long as the defender hasn’t intentionally passed it back to him with his feet

He can’t grab a ball from his teammate if he passed it intentionally with below his knee. For example if a defender is trying to block a shot, which hits his ankle and then the gk grabs the ball, there is no foul, because it wasn’t an intentional pass to the gk

Players can pass to the goalkeeper with their head or chest, the keeper can only grab the ball coming from a teammates leg, just as long as it was a failed clearance and the player had no intention to give the ball.