My left foot doesnt rest on the brake pedal.
Just use it for braking, same with clutch cars.
I've noticed when driving in heavy traffic, especially on I65, I94, 294, etc, my heal is resting with toes about an 1" above the brake pedal.
Sometimes for a 1/2 hour or more.
And my brakes last as long, or longer then anyone i know.

Forgot, my right toes automatically come up off gas pedal as left toes are braking.
Neither foot is on at the same time.