I just know that as a young teen, it only took about two instances of my foot sliding/falling off a pedal to realize that THAT HURTS! I learned real quick that toe clips and straps mitigated that happening again. I've been strapped in, (or clipped in), since. Been about +45 years now riding that way.

Oh, and I do "race". Against myself. Gotta to at least try and get those PRs.

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Also, I very, very rarely unclip both feet. Just my right one, to put my foot down on the curb/gutter/street. It's just automatic for me to slightly lean to the right when I stop. Even when I have to "waddle" sideways to punch the pedestrian walk button, I normally have my left foot clipped in.