Big question for the instructor: why? That is a cessna idea brought unto a high performance jet which could become dangerous. It is good airmanship on a cessna, it is not good airmanship on a high performance jet. You can invert the jet quickly with the rudder when overcompensating.
The only reason would be a possible engine failure, but with autopilot on there is time to recover and there is rudder trim. So no, feet of the pedals. Upset recovery does not call for rudder use (at least on a boeing it doesn’t). Stall recovery does not call for rudder use.