Those who are leery about foot retention should try learning to trackstand. It seems impossible at first, but try it while leaning on a pole or something. Helps a lot if you're on a steep camber and/or a bit uphill. Also spend a bit of time above the bars on the front brake, finding your balance up there where you'd be just after an emergency stop. You can flick the back wheel around a bit like that for extra manoeuvrability at low speed. That way you'll be a lot more comfortable with your feet glued to the bike. Practice not putting a foot down.
I rode for decades on toeclip pedals, with the straps loose enough that I could just step out by lowering my heel. Like this, it's all the security without being stuck on, it feels freer then clipless. Granted, flicking the pedal around and stepping in is a tough one to master, but it's worth it.
Normal shoes plus foot retention - toeclips should be more popular, IMO.