the so-called "half toe clip" is the way to go. I wish I could find pedals that were clipless on one side and would let me install the half toe clip on the other (need the screw holes which usually hold the orange reflectors)

for regular street shoe convenience, they are amazing and much easier to get out of than straps.

I prefer asymmetric pedal sides. I have a pair on my gravel bike that have crank bros. clips on one side, and are flat on the other. Best of both worlds!