EDIT: I recommend the Shimano SH-56 cleats. They are multi-directional release cleats, so it's easier to pop out of them than standard cleats. Highly useful if you want to use clipless for commuting.
+1 for SH-56 "multi-release" cleats.
I was a dyed-in-the-wool toe-clips + straps user for 20+ years.
But I decided to give "clipless" pedals a try about 15 years ago.
I bought Shimano M324 pedals which are SPD clip-ins on one side and ordinary "rat-trap" pedals on the other and could accept full toe-clips + straps on that side.
They came with SH-56 cleats.
I did fall-over, embarrassingly, once but only the once.
I am not sure that I experience any greater efficiency when using the SPD clip-in mechanism.
But they do greatly improve the feeling of "connected-ness" to the bike.
I rapidly switched to double-sided SPD pedals,
but with the reverse side SPD clip-in position occupied with pedal reflectors
and I have *never* looked back.
I then "loaned" the half-and-half M324's to my spouse who was rather skeptical and dubious af first.
But she too was a rapid convert.
I have since lent those M324's to another 10 people
and nearly all of them have been converted by their trial of SPD pedals
Also, using SPD (as opposed to Look, ATAC, Time, Candy or SpeedPlay variant cleat + pedal variants)
there are lots of comfortable and emminently walkable-in SPD shoes, boots, sandals etc.
I would describe myself as a leisure + shopping + road-commuting cyclist and for these "clipless pedal systems" seem fine / really good for my use.