I think you should give it a try. Group riding can be really fun--if you find the right group.
I would add this to the clipless pedal "issue." On one hand, I agree that you should do what makes you feel comfortable. On the other, I think there's something to be said for feeling confident unclipping and stopping with just foot in an emergency. I can think of a number of times that I've had to unclip and stop in a real hurry, i.e., without really even thinking about it. From that standpoint, I would encourage you to practice unclipping with just one foot. Always make it the same foot and I assure you that it will, in time, become second nature. I'd suggest going to a parking lot or quiet park and just doing it over and over again.
Live with intention. Walk to the edge. Listen hard. Practice wellness. Play with abandon. Laugh. Choose with no regret. Continue to learn. Appreciate your friends. Do what you love. Live as if this is all there is.
--Mary Anne Radmacher