Another vote for Time ATAC. I started using Shimano M520 but found even with newish cleats & pedals and max tension I still sometimes would pull out when pulling up on pedals for a sprint like start or when standing up hills. I don't skid either, but am more comfortable to know that I can resist pedals without concern of pull out.

I've never had a pull out on the ATACs.

For commuting double sided and recessed cleats are very nice.

Al