Been using clipless for more than 20 years and have tried different brands and styles. I absolutely hate clips and straps because of the numb feet, especially when it's cold. If you use straps with cleats and tighten them up you can't get out without reaching down to loosen the strap.
I have used spd mountain bike shoes and pedals on the road and I can't imagine anything simpler. Easy to walk in, too.