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I don't know why you've heard different things from MLB umpires...the PBUC and MLB manuals state that 1B umpires should strive to take all plays in fair territory...however, both manuals recognize that some plays must be adjudged from foul territory.
Simply put, for 95% of ground balls to the right side of the infield, I take two steps (one with each foot) into fair territory. (I cross over with my left foot as my fist step, and then move my right foot, and then come to a (standing) set position.) (As another aside, there is a sizable portion of MLB umpires who take virtually ALL plays at first from just a few feet into fair territory...that is, they don't attempt to get a 90-degree angle on balls hit to the left side of the infield. I first heard about this from Jeff Nelson (#45) when I was in the minors.) When I work 3 or 4 man, I take all my plays at first vitually in this spot...a few feet into fair territory. It gives me a great look at the bag, as I listen for the ball hitting the glove, IMHO.
For those plays where F4 or F3 truly "pressure me"...that is makes it so that I would get in their way in their attempt to make a play...I simply go a couple of steps into foul territory.
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