Ive always found SPD to feel good with the non-floating grip. Cannondale shoes are stiff enough to make a soccer player jealous(tready enough too). The cleat has a rotating adjustment as well as fore-aft. It is really sensitive to get that one set propperly.

The action of pulling on the pedals took me a couple weeks to adapt to. It works the muscles very differently than compression pedaling, but that is the advantage. Since you can pull, it alternates the active muscles so overall you work more evenly.