I’ve been using reef knot with extra turns (looks like the so called “surgeons” knot, but the top part also has extra turns), and can second the suggestion. it never has loosened or caught on something. also, because of extra turns, it never jams and can be easily untied even with one hand. just have to use shorter laces.
If you're wearing hiking boots, you can go once around the back to reduce the lace lengths and then make the knot.