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the only time i can do it properly is having the race seat installed (it's about 1.5" lower than stock seat). with the stock seats my leg hits the steering wheel
It really depends on the technique you're used to, I've always found the pedals to be a bit too far apart for my preferred technique. I like to blip with the side of my foot instead of having to turn my foot sideways.
Alan Haggai built a little throttle pedal extension that works great, I've yet to build one for myself but am planning on it.
The S2000's pedals are better set up for heel and toe than even the NSX for normal heel toe downshift. The NSX's are good at the maximum braking heel and toe downshifts.
I find it impossible to heel and toe in the S. Of course it is impossible in any car since I do not have a right ankle. I have been looking to get some kind of a pedal kit but so far have not found anything that I like. The Porsche aftermarket suppliers have one that has a piece on the bottom that is designed to make this easier but so far I have not been able to find who makes it. Does anyone have any ideas or manufacturers that supply this?
I use this aftermarket pedal from Moss Motors in my MGA. It's attaches over the top of the normal throttle pedal, thus providing additional width to the lower left side. It's actually cheaply made but it works. I thought I'd post it to give you an idea of one solution.