I used Shimano SPD's for many years for all applications but then after trying Time decided those were the best for me. With SPD's I always occasionally came unclipped here & there, but never with the Time.

That's for commuting, off-road, casual road, daily riding. If I were racing road I might get a specific system for that, but I ain't

These are cheap and work well (with spd clips also):

Forté Campus Pedals

Just recently started using clipless pedals (Shimano M520) and that little trick you did in the beginning with unclipping but keeping it half-engaged is EXTREMELY clever. I'll have to remember that trick next time I'm out on commute.