I would have thought it was SOP's to follow the movements of the rudder pedals
Never seen that piece of priceless wisdom in manufacturer's FCOM's. If for some life threatening split second reason you need to take over the control of the rudder pedals or any other flight controls when the other pilot is the PF, I doubt if you could hardly measure the time difference between having hands and feet resting all over the other guy's handling of the controls and actually moving the same hands and feet back on them where operational conditions warrant.
As PNF, your feet should be placed on the floor - close to, if you wish, but certainly not touching the rudder pedals and your hands on your knees or lap. It is totally unnecessary and occasionally counter-productive because no matter how lightly you rest your shoes on the rudder pedals it can be often felt by the PF through his own pedals and interpretated as slight binding and would understandably provoke a "WTF are you up to" reaction. As far as both pilots having their hands on the controls during take off, flying or approaching to land. Again totally superfluous and is only done in exciting aeroplane movies. Of course, some pilots love watching exciting aeroplane movies....