Shifting with your foot on the peg requires flexibility of the ankle. But even if you lack that flexibility it is possible to shift by hooking your toe beneath the lever and lifting, rather than pivoting your foot. I have ridden a lot with my ankle in a cast which allowed no flexibility.
As for your friend teaching you to ride...There is absolutely NOTHING in the MSF curriculum which your friend cannot teach you if he is an experienced and SAFE rider. Will he teach you these things is another question entirely. In my opinion the MSF basic riders class is over-rated. MSF is a non-profit corporation sponsored by and created by the manufacturers to promote the product. Their goal is to create customers for their sponsors.
Curt
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