Speedplay Frog pedals are excellent, I've used them almost exclusively on all my bikes since ~2003.

In 2010 I tried some Power Grips pedal straps for a short time - basically a soft version of the toe clip. These would probably work well for a lot of bicyclists (combined with a similar Wellgo pedal). They are harder to get in to, but easier to get out of, compared to toe clips.

In 2016 I tried some Wellgo MG-1 pedals. Compared to Frogs there was only one advantage to this platform pedal (semi-universal shoe compatibility), and a few disadvantages - 100g heavier per pair, plus foot locked into position by combination of pedal tread pins and shoe sole, whereas Frogs allowed effortless lateral rotation. I changed back to Frog pedals after a few short trials. I may try these again when I'm more willing to experiment with pin placement and compatibility with various shoe soles.

Good clipless pedal systems are hard to beat. Bike shoes designed for use with clipless pedals have stiffer soles than "street" shoes, so less energy expended flexing a shoe sole, instead going towards pedaling effort. Street shoes and platform pedals are more likely to result in pressure "hot spots" on soles of feet.

High Quality Traditional Road Pedals???