I learned to use SPD pedals on a mountain bike, alone in the woods. Only wildlife have ever seen me fall.

I suggest you spend half an hour practicing starts and stops, clipping in and out and putting your feet down. Change up which foot you put down first, and do so very deliberately. Unclip the foot, get out of the saddle, and just before your come to a complete stop, turn the front wheel away from the side where your foot will land. This will force the bike to lean toward your landing foot. Make every stop happen as if it's on purpose.

Soon you'll be twisting your foot to step off of platform pedals, as I do subconsciously when I ride occasionally in sneakers.