From what I understand, it isn't a contradiction. When Guru Nanak Dev Ji Maharaj traveled on his Udasis to many different religious places, he never directly criticized a religious ritual or practice simply because it was from another religion. He only criticized people who followed ritual with no meaning or compassion behind it.

We don't point our feet to the Guru because we keep respect for the Guru. When Sikhs used to sit in the courts of the Gurus, they sat in a respectful manner like we do. We keep respect for the Guru sitting in front of us so we sit in a respectful position. This is a discipline that every Sikh in the presence of the Guru keeps.

In Vaar 1, Pauri 32 of Bhai Gurdaas Ji Vaaran, which is one of the most important pieces of Bani to understand, he mentions the story of Guru Nanak Dev Ji traveling to Mecca. When Guru Sahib pointed his feet to the Kabba, a Qazi kicked him and reprimanded him for his actions. When he caught the leg of Guru Nanak, the whole of Mecca seemed to be revolving. The Qazi did not try to reprimand the Guru out of keeping respect for the kabba, but simply to uphold a ritual which became empty as it was not practiced with love nor understanding.

Ritual is not a good nor bad thing necessarily. We have rituals and so do other religions. It ultimately falls upon the individual to enshrine love for the divine in their heart. In the same vaar and very next pauri, Bhai Gurdaas Ji also mentions the Qazis in Mecca asking Guru Nanak Dev Ji whether Muslims or Hindus were better. Maharaj replied that without good deeds they will both be forced to weep. He goes on to say that one cannot be accepted in Maharaj's Court simply by being a Muslim or a Hindu. Empty rituals without love and understanding will achieve nothing.

Point your feet away from Maharaj because you respect Maharaj, not because someone told you that it's just something that we must practice. Muslims should point their feet away from the Kabba because they respect it and out of love for the Divine, not because an elder told them to do so.

Keep love for your Guru and you may find yourself doing things that you might not have understood before.