practice practice practice. i find the pedals to be perfectly positioned, and have no issues performing smooth heel-toe shifts in any scenario from a 4-3 shift on the track (brake buried, moderate blip) to a 2-1 shift pulling into my driveway (feathered brake, deep blip). i'm a bit of a heel-toe nut, but i heel-toe literally every single downshift except (obviously) for when i drop a gear to accelerate, in which case i just match revs. obviously the 2-1 heel-toe downshift pulling into my driveway is totally unnecessary, but i like to keep my teeth sharp. :-D
adding a pedal with an extension would likely make this much harder (i think) because you'd have the brake and gas extremely close together. i needed pedals on my old audi s4, but on my e46 m3 and this car (and every bimmer i've ever driven), the pedals feel spot on for heel-toe.
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