Here's what I heard from the above advice that I keyed into and agree with:
work on his leading skills/manners: that he comes forward without dragging, does not push into you with his head, does not pass you, will back up off the leadline, will allow you to 'send' him forward, like through a gate, etc. I can't explain how to do all those things, not now.
regarding food you need to have clear authority there. be firmly insistent on his backing and staying off of the manger when you bring in his food. You can also work on this out in an open area, like a paddock, and practice moving him off of his food, then allowing him back in. It's making your giving his food, and then taking it back, then giving it back a non-issue. use a crop, but I doubt you will need to actually hit him. You just wave it in the air, sort of pointed at his face, and if he doesn't move , he will sort of 'run into it'. NOt like you run up and smack him.
I would not do his feet in the stall unless he is on a leadline, which you can hold onto. Just put it in the crook of your elbow (close your arm on it. not wrapped around anything) That way, if he starts to swing his hind toward you, you can bring his head in and around, which makes him swing his hind outward.
Release his foot before he takes it back
If he takes it back himself, just pick it up again, and again.
Im not sure if the little kick thing is him kicking AT you, or there just being a sort of 'krick' in his joints. my horse will sometimes do this after having had his foot held up for some time. I don't like it, and I try to hold his foot, until he 'allows' me to control the decent to the ground.
YOu don't always have to hit a horse with a crop, for a crop to be a useful tool.
said, he often interrupts a horse's stinky thoughts, expressed in pinned ears, simply by just calmly reaching forward and petting them on the face. This is a place that is somewhat submissive for them. I mean, they are 'submitting' to you when they allow you to pet their face. This kind of surprises the horse, since they were kind of 'shouting' at you, and you just ignored it and went right in with a loving pet, no submissiveness on YOUR part.
I have also used a crop to make a sudden noise. or, just my own hand slapping my thigh. Point being, it startles the hrose out of that train of thought, that stinky thinking, without actually hurting them
And, using the rope to pick up his feet is a great excersize to do. you can even watch his face to see how he feels about this, and perhaps notice if there is any kind of pain reaction.