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Good question as this can be difficult during actual play.
Footwork is improved similar to improving dance moves, breaking the moves down with lots & lots of practice.
I like to use markers and dots for where your feet should be planted and move/pivot or hop to. The shot you are executing should be the same each time.

Here is an idea of a footwork practice and I will be looking at posting these myself for several footwork options in different point situations.

Remember the 3 "R's": Repetition, Repetition, Repetition. This is the key to making your footwork automatic.....the same way as you walk without thinking about the mechanics of walking.

Appreciate the question.
Thanks