I have been riding clipless for over 5 years, and most of the time if I'm riding in traffic I do unclip the two feet just in case, because I can't be sure of which direction will be best to lean into to put a foot down. It does not cause me balance issues, although I'm quite good at resting my foot on the pedal while not re-clipping.

On my road bike on wide open roads then I usually just unclip the right foot so I can stop leaning on the right side.

I did have two clipless falls so far, and a handful of near-falls. The second fall, I was actually leading a group ride for newbies, who I think were delighted to see me, "the leader," fall. I plan to fall again probably a couple of times over the next 10 years. That's just life.