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I heel toe all around town, it's just habit and muscle memory now. You do not need special pedals or anything goofy, just practice, practice, practice. The harder you apply the brakes, the easier it is because you have a firmer pedal to work with. Practicing under lighter braking loads helps improve muscle memory and sensitivity.
Personally, I prefer the inner ball and big toe to remain on the brake pedal, and the outer edge of my heel to catch the gas pedal.
Edit- good thin-sole driving shoes help.
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