OK... I'm looking at this from a slightly different angle... absolutely check pedals/cleats for position and for wear'n'tear...

But also... how about when you are riding with no intention of stopping, when you are not going too fast along a straight and flat stretch of road, you just practice clipping in and out...

Just keep practicing til your foot knows exactly what to do without reminding it... just like your foot moves to the brake (in a car) when approaching an intersection with little thought or reminder from you...

Good luck - toppling off a bike sucks.