The instructor is a dangerous criminal if he tells you to take your feet off the rudders during rotation. He should be grounded and retrained himself. Quickly!
The TAC, just as anything else, can and will fail when least expected.
For instance in an engine seizure or separation the TAC loses engine input and will not react. You have to adjust rudder yourself.
Please inform the instructor's senior about this. I hope CAE will react appropriately.