On some aircraft like the A320 series if you have an engine failure before 72 kts it can be difficult to stay on the runway without the prompt use of differential braking. The autobrake will not have activated and full rudder is not too effective at these speeds. It’s an interesting demonstration in the sim.
Put your feet where the manual tells you to put them. Modern pedals tend to be better designed than some fitted to the older types. I follow Rainboe's logic and can’t argue with his experiences on the 747 - some older military types had similar problems - but I put my feet fully on the pedals. I still have my old habit of applying steering input with my heels, though.