It sounds like you need to be able to predict which direction the bike is going to lean when you stop. You can do this with countersteering. You already know it as part of riding. You just want to make it active not passive.
The physics of a bike makes it so if you "steer" the bar to the RIGHT...the bike will always LEAN TO THE LEFT. (or vice versa)
So if you want to unclip from the left pedal, in the last few inches of stopping and you have your left foot down....steer the front wheel to the right. This will assure you drop onto your left foot.