I am no expert but I am successfully making most of mine... when I touch down.
Ride somewhat toward downwind (maybe 45 degrees off downwind)
Bring your board down to the water.. as you go more downwind this will happen.
Move your back foot out of the rear strap and put it just in front of that strap.
Get your weight forward (mostly on your front foot).
Quickly move your back foot forward into the empty front foot strap
.. and immediately
move your old front foot to anywhere on the back of the board
(At this point you may be riding toeside)
Downloop the kite while turning the board totally downwind and keep turning until you are on the new tack. The downloop makes things easier because it gives you a burst of speed. You are done.
Start by doing the footswitch before you turn the board and downloop. As you get better you can do everything together and ideally spend a minimum amount of time with your board touching the water. I have described how I do it on a 3 strap board but it is the same strapless and probably easier.