What's wrong with this:
For normal driving, use right foot only for both brake & accelerator, just like a manual.
For slow speed manoeuvres like parking, have the left foot covering/using the brake, right foot on the gas.
This way, it replicates driving in a manual:
i.e. for slow speeds, the left foot pressing down means slow/stop, same as pressing on a clutch with the left foot, with right foot on the gas only.
Normal driving is also the same as manual, except the left foot doesn't have to operate the clutch.
That's what I use when I reverse into the garage or any other slow speed manoeuvre: with the left foot covering the brake pedal there's instant response available if something happens.
What I don't feel comfortable with however is left foot braking when driving normally at speed, I'd probably send myself through the windscreen!
So I'm guessing that those who object to left-foot braking are referring to using it when driving it at speed when it would be unnatural, especially if you're used to a manual.
That shouldn't prevent its use at slow speeds like parking, which is where many of these accidents happen.
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