When I pull up to stop for a while (if I'm ending a ride, or about to rest, or talk), I will come up out of the saddle and stop flat-footed, but at lights and such, I think it's a little easier and more efficient to just unclip and balance on a toe, no need to get out of the saddle. This makes for a faster start too, I think. YMMV.
Getting comfortable with clipless pedals is a little bit like learning how to drive a stick-shift. At first you have to think through everything or else you end up stalling out, grinding gears, etc. You have to say, "okay, I need to shift up: right foot off the gas/brake, left foot on the clutch, shift down-over-up, release clutch with left foot, apply gas with the right foot." And sometimes you still stall out. Eventually though, you don't have to think about it anymore, it just happens when it needs to happen. This only happens because you have taught yourself through countless conscious repetitions.
With pedals, you have to go through this same repetition process -- it takes more than a couple of times to make it into a habit. At first, every time you approach a stop, think to yourself, "ok, I am going to need to slow down, unclip left, lean left and stop." Then walk yourself through it while you're doing it. "slow down, unclip left, lean left, stop." Don't think to yourself, "I'm going to have to stop up there," think, "I'm going to slow down, unclip left, lean left and stop." Eventually, you will develop a habit of automatically leaning in the right direction when you unclip/stop. And then the whole thing will become completely subconscious, like the process of driving a standard car does, and it will just happen when it needs to happen, and you will do it without falling. Eventually you will also wait until the last minute to unclip, but when you're trying to teach your body the habit of unclipping I think it's easier to give yourself plenty of time to unclip.
As to the specific question of getting out of the saddle when stopping... I'm not sure exactly what order I do this in... but one question that comes to mind is whether you are trying to unclip AFTER you've already gotten out of the saddle. If so, it would probably be easier to unclip first, before you get out of the saddle. I think the twisting motion probably affects your balance less when you are seated. Also, clipping out at the bottom of the pedal stroke is generally easier than clipping out near the top of the stroke. Thinking about it, for me it probably goes like this: slow way way down, to almost a stop; unclip; shift weight up-forward-down at the same time as coming to a complete stop.
In an emergency, you will react before your conscious brain has time to sort things out. So your best defense is to practice, practice, practice until unclipping without falling is completely second nature. Then when you have to stop short, your body will do the right thing. Other than this, try to anticipate hazards well in advance whenever possible, and if you are worried about your ability to clip out in an emergency, clip out "just in case" when you see a potential tight spot up ahead.Also, what is the best thing to do in an emergency when you have to stop quickly with clipless pedals?
Hope that's helpful! Good luck! I was terrified of my pedals when I first got them.




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