When I zap a 4′ vertical rock face I put my toes under the foot controls and point the toes way down, that weights the front edge of the footpegs
When I descend an extremely steep slope I fully extend my arms, lower my butt and tilt my heals down. that weights the trailing edge of the footpegs.
Inserted picture: displays Standard footpegs compared to aftermarket footpegs, the only significant difference being the front to back width, and yes a measly half inch wider does make that much difference and well worth the 80$
Point being; even an extremely subtle change in weighting can result in a significant control improvement.
If you have forward mounted cruiser type pegs, you can not weight the pegs without transferring the weight forward on the bike and pulling back on the bars. With rearsets, the opposite is true and only with centrally located pegs can you accurately control the front/central/rear bias balance point ( through peg weighting ).
When I set up sections for novice riders, I test them by riding the section while standing on the seat. Makes it much harder for me and brings things into the realm of a novice rider. If I rode an Intermediate section either standing on the seat or sitting on the seat, I would crash badly.