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I would think it's dangerous to put the bag next to your foot. What if it slides, and part of it gets stuck under the brake pedal?
I put a small mesh cube in the foot area of the back seat behind the driver's seat (see picture from Container Store). I got this idea after a really bad car accident, where my bag got tossed off the back seat, and I couldn't find it to get my phone. The cube is collapsible if I have passengers in the back.