We live in a very hilly place with our Roadster 2.0, and I regularly deal with a steep uphill with a stop sign at the top, and the need to accelerate quickly onto a busy main road after the stop. It is quite easy to just balance the accelerator pedal with enough torque to keep the car essentially stationary, and then mash it to move off when the road clears. While this uses energy, it is a trivial amount. If it uses even 2 kW to hold on a vary steep hill for 60 seconds, that is 33.3 Wh, which is about 1/10 mile of range. Big deal. If that is too much, as others have said, use the left foot.