Unlike most people (I think), I put my right foot on second and take it off first. That pedal has the tension set very low. The left one has it a little higher, though it doesn't really need to be. I have had a couple of panic stops when I pulled my feet out vertically rather than twisting them out. So it works when you pull really hard (and the tension is sufficiently low). I didn't even do it consciously.

I've had one near fall and one fall. The near fall was in 1991 when I was new to clipless and had been using toe clips since 1975. I came to a stop and couldn't get out, but I was right next to a dumpster which was shoulder high. I grabbed the dumpster and unclipped. No problem.

The other was in about 2008. I was goofing around on the grass at low speed and came to an incline I couldn't climb in the gear I was in. I fell onto the grass gently and burst out laughing at my clumsiness. My wife thought it was a stunt and asked me why I did it. She didn't know it was an accident.

So again, clipless is not for everyone, but the required skill is achievable for many of us.

I'm not super experienced at riding off road, so on those occasions, I will unclip in anticipating needing to put my foot down. Still, no problem.