Yaris has a good pedal position for heel and toe, just use left part of right foot to brake and right side of same foot to press throttle before releasing the clutch. I do it all the time in most cars (if the pedals are spaced OK) without even knowing it - sometimes people in the car ask me what I'm doing and i go "What do you mean. What do I do?". You just get used to it avfrer years of doing it.
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