Well 'heel & towing' can referr to one using their left foot on the brake & the clutch at the same time, while their right foot is on the throttle.
Then 'left foot braking' becames fashionable in racing circles (it started with the Scandinavian & Finnish rally drivers), where the clutch wasn't even used, & the feet were virtually always used to work the brake 'n throttle. Afterall the gearboxes were re-built for every race anyway, as ratios were always re-set to match the different circuts.
Eventually, a more sympathetic alternative was found, with solenoid operated clutches, where a solenoid automatically open & clossed the clutch when the gears were shifted. Even so, they still kept a cutch pedal in the car, because manual control of the clutch could come in handy, say when doing a 'handbrakie'. Even better some racing car drivers would fit one of those 'hand brake' pedals (like what were in big 'Yank Tanks' of the 70's), next to the clutch so that there were 4 pedals, yet because of the automatic solenoid clutch, really only 2 pedals were needed. The trick was to file the ratchets off the 'hand brake' pedal (well such rally/race cars still had the normal handbrake between the 2 seats, anyway), so it would automatically release when pressure was released off the pedal. These were often setup with a lip on it, so that when the foot parking brake was pressed down the clutch pedal went down with it.