You don't need a drum set to get a decent drumming workout!
There are so many pedals to choose from, find a pedal that does work for your style of playing and for your budget. Learn to be flexible and learn to control different types, brands and models. Focus on your foot and don't get paranoid about finding and always playing your "perfect pedal".
Which factors matter and affect your foot technique? How does seat heigh affect your technique and comfort?
How to find out the perfect seat height for you and how to remember it.
Here's a breakdown of motions and mechanics of the heel-toe technique. I am demonstrating the original version and I am showing exercises and patterns to practice even without pedals.