I rode MKS MapStage clipless pedals for 20+ years. These use a big friction disc that the cleat engages with by pointing the tip of the shoe inward into the opening then rotating to capture the claw at the back. No springs and no clipping. Super rebuildable but replacement cleats are no longer available.

So I changed to Shimano SPD-R road pedals with 3 bolt Look style cleats. The Dura Ace 9000’s and 9100’s are the ones I have and I like them. Clicking in at traffic lights is not perfect but it is not bad.