For me it depends.

For clipless...

If I have a brake it's about the same as a freewheel bike because I can stop on the part of the stroke I want.

If I don't have a brake I think about where I want to end up and unclip the planting foot just before I get there while my attached foot is in the down stroke. This gives enough time to plant my free foot before the clipped foot makes another rotation. The upstroke acts as the last bit of stopping force.