This isn't something that is set in stone and will vary for each rider.
I personally like staying on the balls of my feet as often and as quick as I can, others might like to keep their arch on the pegs at all times and ready to shift.
Techniques like these are learned with time, just like gripping your knees with the tank. You know what the proper technique is (balls of your feet on the pegs), now get out there and practice, practice, practice until it becomes second nature
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