There are a couple of different footwork patterns for each of the forehand and backhand side depending on how much you have to move and how much time you have. But I think you're asking more about how to best cover that first volley, and because you say you feel rushed, maybe you can try to hit an approach shot which gives you a bit more time in addition to working on footwork.
As an example, I try to win points by getting a mid-court forehand, from which I can pretty much hit forcing shots that gain me a strong advantage. However, if I get a short and wide forehand which is too low to try to hit for a winner, but also too short to hit and retreat to the baseline, I'll often loop up a heavy topspin shot deep down the line and come to net. The looping trajectory gives me the extra time to get well position, and the higher bounce makes it tougher for my opponent to hit the ball as effectively as if it were waist height.
On the backhand where I can't loop it or hit it as well as I can on my forehand, I'll sometimes just try to hit a deep floating slice into their weaker wing and just charge the net like a madman hoping for something good to happen. At my age (late 50's) and level (4.5), an age group peer is as likely to lob as to try and drive it. That works for me since I'm already kind of deep in the court. On that same shot, I'll also hit it short and low to their other wing, just to keep them less sure of what I might try to do. This has the extra benefit that they may step forward anticipating a short shot and if I float it deep, they have to hit with their weaker stroke while moving backwards.
Hopefully that gives you a different way of thinking about how to cover that first volley, in that sometimes the approach shot you choose to hit is done to allow you to get in better position for the first volley, instead of just hitting the same approach shot all the time and hoping that faster or better footwork will solve the problem.