I only press the brake pedal when I'm changing from M to L. Pressing the clutch pedal never made the change any easier. The tractor has to be stationary or the teeth will grind. Sometimes it won't go from M to L, so I just move the tractor foward or back a little and it shifts ok. I love HST, the foot pedal is so accurate and responsive, there is nothing more fun than driving the tractor.