I use a combination of flexing my ankle and my whole leg to push the clutch in, but releasing I just flex my ankle until it grabs and I get moving, then I pull my leg off of the clutch, it feels like I have the most control that way.
Honestly, do whatever works for you, everyone has a different method of regulating the clutch, and it'll depend a lot on what type of car/truck you're driving(I can't use just my ankle on my dad's truck for example). Just do what you feel comfortable with and practice and you will get a good feeling for the pedal.
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