I am historically/typically a very uncoordinated person. After having clipless pedals for about 2mo. I was able to clip in second foot as soon as pedal comes around the first time, at least 90% of the time. I never look. For that other 10% you can still push down on pedal while wiggling it to clip in as it gets to upstroke, so you still don't miss any forward power. As Gene says, 'muscle memory' - which makes sense, you leg/foot is always in the same position when clipped it, its is only natural it will find its place without any thought.

Al