Think of the rudder as a" Balance " control, it will come to you over time.
My experience is that rudder control will never totally become 100% intuitive. Only once you've flown a specific manoever in a specific airframe dozens of times will you be able to apply rudder more or less instinctively, and correctly.
But every time you go from one airframe to another you need to "reset" your feet for this new airframe, and that takes conscious thought initially. Going from glider to power and back, for instance, always requires me to do a few S-turns before I'm adjusted again to the amount of rudder input needed. And I once had a mighty surprise in a motor glider with a prop that turned the "wrong" way. The take-off roll must've been funny to watch...
I don't think there are pilots who can go from one airframe to another and fly the aircraft in perfect balance without glancing at the balance ball every so often. And you don't have to: The balance ball is right next to all the other primary flight instruments so it's perfectly legal to use it.