Best bet is to practice at low speeds. Turn the handlebars left, put your left foot forwards. Turn right, put right foot forward. Typically when coming to lights or slow turns, you stop pedaling and coast. So you stop pedalling well before you turn the bars and you just make sure the proper foot is forward. Even easier to hold the cranks vertical, then it will clear regardless of which direction your bars are turning.

With a 5'6" person, 160mm cranks are way too short. About 170 is the most common length.

Like everything else in life, practice is key. You don't give up playing the piano because you hit a couple of bad notes, then turn the whole thing in for a player piano. You don't give up cooking because you burned a pot of pasta once or twice. The first couple times you brushed your teeth, you probably slobbered and dripped all over the place. Imagine if you had stopped brushing your teeth as a kid...