Why would you not allow the F/O to have his feet resting gently on the rudder peddles during taxi? I don't see a big problem in that, other than that it might hurt the ego of the boss in the left seat?
I ask because I've had a few training captains advising me to actually do this, one of them with the story that he once as a F/O had to hit the brakes because they would otherwise have caused a runway incursion. (Heavily delayed flight, in a hurry to make the slot...)
Where I come from, we operate the controls one pilot at a time, I don't require any assistance from an FO, some people call them the MS crews, I call them the SOP squad, who love to quote the SOP when convenient, and disregard it when not convenient.
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