When I was thinking of going clipless I also thought the two-way pedals would be the way to go, so I had the choice of clipless or not. But I bit the bullet and went clipless all the way and have never regretted it. I commute in my biking shoes and change when I get there, I have mtb shoes that are good to walk around town in (I've even taken them on gentle hikes, although I'm sure it's not good for the cleats), and I find things work really well. Also look into skinnier tires and use a floor pump to pump them up really hard. Yes, and as everyone else says, practice, practice, practice. It does help.
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Zero gallons to the mile