Rudel, where is your left foot? Try shifting it, maybe moving your seat forward so you can rest your heel and rock your foot comfortably. If you can't easily slide your hand between the seat and the back of your leg then you should move forward.
The other posts are right about RPMs. Start high & gradually rock your foot out of the clutch. It won't be like an automatic but as you get better you'll work the RPMs down.
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