I've had several different pedals. Currently I'm using SPD with Shimano M647 DH pedals and M122 MTB shoes. These are great for urban stop-and-go, you can unclip instantly (BTW, the SF51 standard cleat allows heel-inward clip-outs fine, no need for 56), and you can take off when the light turns green, clipped in or riding the platform. These are not the lightest pedals in the world. Road pedals/shoes/cleats are more efficient for rural rides where you don't have to stop too often. (I try to look at the lights ahead, and do semi-trackstands to not have to unclip and dismount, but a lot of times, I have no choice but to put the foot down.) Nothing wrong with having both urban-riding and roadie kits.