My take it the same as @CumminsPusher hit the gas let off the brake. Not difficult.
But most obvious is the don't stop on a hill aspect of it.
If the hill is steep enough you are concerned then it for many reasons is not a safe place to stop.
Mainly someone could come over the top down to you not knowing your there.
Sometimes you can't choose where to stop going up hill - a rig in front of you may slip and you may have to keep back.
I had an Xterra Offroad (later called Pro 4x) and it was the vehicle I used to learn to hill climb, off road, etc.
Then I had a 4Runner Trail (now Off Road) and had to learn the two-foot shuffle.
The Xterra's hill brake assist was automatic, the 4Runner's was not.
With my P1k5, I just left-foot brake and then right-foot gas it when ready.
Both work, but as others have said - don't burn your clutch half-revving your Pioneer to hold position on a hill.