If they are limiting you, then there is no reason not to go to a good pair of grippy platforms like BMX pedals. I love my BMX pedals, but sadly I've a knee that is only happy with my Frog pedals - I've more knee pain with platform and SPD pedals.

I hear you about hills, I've this head thing about climbing a nasty hill clipped in, and will often avoid the hill...I need to get over that.

I think you also said that you've problem with your ankles? Your ankles might appreciate the greater freedom of a good pair of platform pedals, but that is your decision to make.