I've done this when the clutch on one of my previous cars went completely. I had to start the car in 1st gear, bucking alll over the place, then shifting to second and 3 and back down while limping home. Not fun but doable.
I had this happen to my '86 911 at the track and drove 123 miles home w/o a clutch. Very doable, if you have a feel for the spot where everything meshes.
I don't even think about my heel & toe method...it just comes naturally with practice.
