OP - Good observations. After a lot of thought I switched to clipless this spring as well, and my experience has been similar to yours.

I too commute with my clipless pedals without problems. I've even handled a panic stop with them with no issues, and that was one of my concerns going to clipless.

I have yet to fall over at a stop. I've never forgotten that I was clipped in, but this may be because I rode with Power Grips for a long time before going to the clipless pedals.

I don't feel like my pedaling form has improved, but the shoes themselves definitely feel better for riding and I notice that, plus I like the feeling of being clipped to the pedals. I use Shimano SPD touring pedals and shoes, and yes, they are very walkable off the bike.