You may want to try a combo of an MTB-style flat pedal (with gripping pins) and shoes like Five Tens. Having ridden clipless/SPD (a little, decided I don't like them), clips and straps (mostly, and for a long time on all my bikes), and now the flat/Five-Ten combo on my mountain bikes, I can say that the flat/shoe combo makes an impressive combo and my foot simple stays where it's put, even on highly technical terrain.