Not track and not (exclusively) racing. Cinching the straps (and wearing cycling shoes) is the only way to keep your feet from pulling out, especially while climbing. It's why they're there...
But you know, now that you've got me thinking about it, I've finally understood the efficiency of being in your pedals rather than on them. It isn't so much "using other muscles to pull up and back" the way a lot of people say. It's more, the muscles you don't have to use to keep locating and staying on your pedals. It's like wearing flipflops, all the effort you have to keep exerting, messing up your natural stride, trying to keep them on your feet. It's the same sort of thing when you're not secure in your pedals.
You mentioned Crocs. Think about how you have to walk in them and all the wasted energy. Same thing.
Speed comes from what you put behind you. - Judi Ketteler