Question: How do I avoid ankle pain during burpees?
If you have had previous ankle injury, you may need to strengthen first the muscles around your ankle by using resistance band and move the foot inward, outward, upward and downward. If this is too easy, you can try some single leg exercises such as single leg dead-lifts and single leg rows to help strengthen again your ankle.
Another thing you might want to consider is calf muscle tightness. The calf muscles have a superficial and deep muscle that helps us point the foot downward or lets us do a heel raise. It may be helpful to stretch the calf muscles first by going into a lunge position. Stance is hip width, with the back leg straight (for the superficial calf muscle) and the back leg bent (for the deep calf muscle). Hold each position for 20-30 seconds and repeat for 2-3 times each.