I can only remember hitting pedals twice and once was on my road bike in a criterium. My current fixed gear has 170mm cranks and spd pedals and I've never hit. You just need to learn your bikes dimensions and go with it. Also you can get away with leaning into turns while holding the bike more upright too. I learned that trick from muddy cyclocross racing. If you have to make really tight low speed turns (like in a parking lot) you can turn harder on the pedal up stroke and come back to level on the down strokes.