Below is a video critique of Jeff Germond performing a 295# clean and jerk.  The clean is almost flawless and were you to watch it full speed your draw would drop at his speed out of the bottom.  That being said, the critique focuses on a small nuance of the jerk that many don’t teach or consider.
The reason lifting coaches focus so much of their time and energy on getting their lifters to step out with their front foot in the jerk is because their hips move in unison with their front foot.  Think about where the bar sits on your chest with your prepare for a jerk.  It is slightly in front of the horizontal plane of your hips.  That means in order for you to land under the jerk in the strongest position possible you would need to move your hips from behind the plane of the bar to under the plane of the bar.  This can be done in two ways.  Moving the bar (which hold PR clean weight and feels heavy as junk on your shoulders) backwards over your hips OR move your hips (which are mobile, fast as lightning, and designed to bear load) under the bar.  My preference is both.  Think of driving hard with the legs and driving the bar backwards while also using your arms and front step to press your hips through the bar.
Jerk-Technique
Take a look at the picture above.  You can see on the right side of the picture the red line tracks the bar path for the jerk.  The bar moves back a bit.  Furthermore, look at the hips movement of the guy in the picture.  His hips move horizontally to find themselves under the bar.  Remember the hips are designed to bear load and they should move in unison with your head and shoulders (theoretically).  If you can get your hips to move under the bar then likely the bar will find itself over your stabilizing posterior shoulder muscles, rhomboids, and spinal erectors.
Take a look at this for a video of this challenge: Jeff Germond 295# Clean and Jerk