I use (similar to) those Shimano pedals, walk in dirt, gavel, etc., sometimes ride off- road.
I keep the cleat covers with the helmet bag and the saddle cover- oh wait, I don't have any of those.
In the worst case (stepping off the road into muck to take a piss), it has been necessary to scrunch the shoe around a little to get the cleat engaged.
Cleaning, lubricating- hardly ever.
The pedals hang 'toe up' so you engage the same each time.
The amount of float is fine unless you have some special issue.