[SD987]

It is of course difficult for me to comment on your driving position, but your statement sounds about right.

"semi-reclined position"

If this equates in your mind to your ass feeling slightly lower than your knees (instead of roughly the same level), then yes...

"our heels closer together and underneath nearer the sides of the brake so that your right foot rotates to the brake more than lifting"

You make a good point in that the heel should be rotating (feeling like it's dropping back and to the right) instead of leading the switch from the toe-end of the foot, which most people do but results in inconsistent placement of the foot. When leading with the toe-end you usually have to make a subsequent adjustment, kind of like groping in the dark for one's glasses. Switching with the heel end puts your foot in the same place on the accelerator each time. It also makes it easier to overcome the "height" difference between the accelerator and the brake pedal as moving from gas to brake with the heel first causes the front part of the foot to raise up.

As far as the relationship of the heels to each other, I think the placement of the right foot should match the pedal switching move described above, however, I think of equal importance is the relationship between the knees and the heels. If the weight of your knees "feel" like they outside your heel lines ("bowlegged") than you're going to be really thrown around when cornering. If you keep your knees within or equal to your heel-lines you'll be able to maintain a consistent relationship between your body and the pedals. I find this knee/heel relationship is easier to maintain when "semi-reclined".