Half the Action, Double the Time
Take a second-gear corner after a long straight, for example: Instead of shifting four times to go from sixth to second, you can halve the shifting actions you need to get there by going from sixth to fourth and then to second. This gives drivers more time to smoothly perform all the movements while braking - make sure to wait for the revs to drop enough for the lower gear not to start with too much of them, damaging the engine.
Take a look at this onboard footage of Derek Bell in a Porsche 956 Group C race car at Kyalami, where you can tell he is only shifting twice at the end of the main straight, going from fifth to third, then to second:
It might take a while to get used to moving the gear lever in a different pattern, but if you want to make your heel and toe life a bit easier, be sure to give it a try.