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We propose a versatile framework to dynamically generate Floquet higher-order topological insulators by multistep driving of topologically trivial Hamiltonians. Two analytically solvable examples are used to illustrate this procedure to yield Floquet quadrupole and octupole insulators with zero- and/or π-corner modes protected by mirror symmetries. Furthermore, we introduce dynamical topological invariants from the full unitary return map and show its phase bands contain Weyl singularities whose topological charges form dynamical multi