BK, I also fell in love (not totally, but deeply enough) with the Epic foot pedal system right from the get-go. I had been used to a similar system on my old Dirigo 17, which used toe-operated pedals affixed to solid Yakima footrests so that the foot was solidly anchored to the hull at all times. I had also made pivoting T-bar systems for my two wooden kayaks, whereby the toes also controlled the rudder while the heels were firmly lodged against a heelrest fixed to the hull. So much better, as we know, than the soggy, mushy sliding footrests of so many other boats. Some things slowly but surely do improve. I like my 16X more, every time I go out in it.