I would think that drill would work. Coast along clipping in and out with each foot. Do this every ride for a while and it should be second nature.

Also, practice track stands.

Everything fails. I had a set of "wellgo" clipless modeled on the Look type design, which I'd ridden before. These would lock up and I'd have to lean against something to force my feet out. After this problem failed to respond to anything I took my new bike back to the shop with one of my shoes still stuck in the pedal! Got a discount on some Time pedals that seem quite nice. I like them anyway.

Perhaps I have more comfort on my bike. I don't fall over at stops. Think the last time was in 1993 - I snagged something so my foot was slow, then I hit leaves and slipped! I used to end up track standing and unclipping when I would ride with two straps on each clip - would forget about those second straps! Not sure I can track stand well enough to do that anymore. That was indeed in the days of Dettos and nailed on cleats!

Really, the drill should do it. Get that reflex wired in pretty strongly. I don't even think about it anymore. I can ride at least SPD, Time, and Look types without thinking about it. Haven't tried Speedplay or anything else. I suspect they work really well, too! Anything is better than clips & cleats! Although I'd ride clips and touring shoes to commute, if I had a commuter bike.