It's fairly normal to be little worried about the idea. Before I first used them out on the road, I stayed inside and with my arms holding onto a countertop, I practiced clipping and unclipping them. I got the feel of turning the heel out, and how much force is required to do so.

When I went out on the road, I then remembered that I had to unclip before every stop sign etc. Everytime except once It happens, and you look like a bit of a fool tbh, but I didn't injure myself at all. Just pride.

Nowadays it just feels natural. I now like the idea of 'feeling' the bike more, and I think it's made me a better rider.

Hope this helps the fear aspect, and good luck!