You know, I've taught ballet classes since I was in my early teens. Some people cannot turn their toes out very far no matter what. Others, can get 180 degrees with no problem in first position, and I could from my first lesson. 5th position is even worse. I have girls bending their knees trying to get their toes turned out more and they just aren't built like that. I think eventually my turnout got even wider, but the knock kneed position of skiing and yes, turning my heel out is really uncomfortable.

I don't force their feet into an unnatural position, and I don't think that's healthy in any sport, therefore my conclusion is that there is no "correct" way to uncleat, not based on any cycling knowledge, but from a lifetime of dance.