I'm just starting my second season with clipless pedals. I was definitely nervous most of the first season, made a conscious effort to remind myself my feet were attached to the pedals so PLAN AHEAD. It does get better and I would never go back now. It'd be much harder to get going from a full stop if I did not have one foot clipped in to push off with. I also tend to slip off the pedal if I try to accelerate without being clipped in, due I guess to being in the habit of applying force all the way thru the rotation instead of just the down stroke. And I really notice the gain in efficiency.
I put candies on my road bike and combos (flat one side, clip on the other) on my commuter bike. I did that because my aging brain did not need the challenge of trying to remember which bike I was on and therefore which habits applied! But the combo pedals give me a choice in traffic if I need to stop and start a lot. Overall I like the Candies better, and both sets of pedals got much easier to use as they got broken in. So to new clipless riders, I'd say hang in there....
Also, I agree with bcipam that it seems easier to let the second foot just ride on top for a stroke or two until I get rolling after stop, then clip it in. No real need to do it instantly



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