In general, though, we don't find clean transitions like this.
Whenever more than one articulator is involved, there is the
possibility of simulataneous action. In toot,
[tut], it is the tongue tip that is performing the medial phase
of the initial [t].
There is no physical reason why the tongue body must wait around till
the tongue tip releases the [t] before beginning to move into position
for the [u] -- and usually it doesn't. The onset phase of the [u]
will during the medial phase of the initial [t]. Often the tongue
body will even reach its position for the medial phase of [u] before
the [t] is release:
Even our ideal [kuk] shows overlapping once we consider the lips as a
second articulator. [u] involves both a high back tongue body and lip
rounding, but we almost never find the onset and offset of lip
rounding occurring synchronized with the onset and offset of the
tongue body gesture, which would look like:
Consonants can overlap each other as well.
The word doctor could be pronounced with two
different kinds of transitions between the [k] and the [t]. It would
be possible for the [k] to be released before the closure of the [t]
begins, that is, the offset phase of [k] overlaps with the onset phase
of the [t], as in:
Languages differ in which kind of transition they use. Many languages prefer to have a clearly released [k] before the [t], as in the first diagram. English strongly prefers to have an overlapping [kt] sequence, as in the second diagram.
In an IPA transcription, we can indicate an overlapping transition
between stops using the same corner diacritic we used for unreleased
stops:
Technically, the IPA corner diacritic means "no audible release". A release might not be audible because it occurs during the closure of a following stop, as in doctor. Or there might be no audible release because there is no release at all, as in phrase-final cat.