Updating my previous post, since last month I've switched to Thermalite pedals by Stolen Pedals and modified my foot position, closer to having the arch centered over the pedal axle. I wasn't quite ready to spend what the Catalyst pedals cost so the Thermalites were a good way to experiment with a different foot position on platform/flat pedals.

Seems unorthodox but it suits me. No knee twinges since modifying my foot position, and I feel stronger climbing hills. I still do occasionally change my foot position closer to having the ball of the foot over the pedal axle for faster downhill pedaling and occasionally on flats. Overall I prefer not having toe clips or clipless devices and shoes locking me into a fixed position.