I got used the clipping in and out of clipless. But I read about how they did studies and clipless wasn't faster than flats (yeah maybe it's a hair faster for sprinting in racing but I'm not racing) and realized how rediculous it was that I had put all this effort into trying to make clipless work for me. My feet hurt, it was always a hassle to have to constantly bring and change into a second pair of shoes, it was annoying to walk around off the bike, and I always had to be a little conscious about the pedals which added a hair more stress to all my rides.

Long story short I went to Five Ten shoes and DMR Vault flat pedals...
https://www.adidasoutdoor.com/FT07.h...07_color=Black
https://www.dmrbikes.com/Catalogue/P...lt-2/Vault-NEW

And it's so much more enjoyable to bike. My feet no longer get cramped and hurt after riding, with this particular combination it's so comfortable riding it might be more comfortable than my regular shoes for walking around. Going biking is a lot easier and less work. No concerns about biking to a destination then walking around. The five ten shoes use a special extra grippy rubber so my feet still grip the pedals like clipless for every direction other than pulling your foot off the pedal.

If I needed to keep my feet firmly attached to the pedals while wildly sprinting I'd definitely go with clipless. If I won or lost a race by 10 seconds I'd probably go with clipless. If I was already using clipless and felt like it would great I'd stick with it. Clipless is a good system for what it's designed for. But I see it like a manual transmission vs an automatic transmission on a car - I prefer the ease of use of an automatic (flats) vs the greater control but greater work to use of clipless (manual).