On my old bike (1980 Suzuki GS250), I used to keep my foot on the peg just before the heels. This would allow me to have my foot floating right above the brake, ready to press down if needed. Due to the way things were set up, it was possible to ride like this without touching the brake.
Now on my SV650, this does not work (different positioning), and I rest the ball of my foot on the peg like normal.
Scraping the front of my boot when I lean
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Re: Scraping the front of my boot when I lean
Before racers used their knee to gauge their lean angle, they used the toes of their boots. That's also why race bikes often have the shift pattern reversed. It keeps the riders foot higher in left turns.