I've just bought a new road bike and had the same concerns. I went for some half and half pedals.
I went out for the first time with the cleats in my shoes on Boxing Day. I started clipping in on the long sections where I knew I was unlikely to need to put my foot down, and I noticed a real difference in terms of getting more return for the effort being put in. I made sure the shop set the pedals at the lowest tension, and by halfway through the ride was unintentionally clipping in when pushing off from traffic lights etc. I guess I'll need to be mindful of that going forward.
It will clearly take a while to get used to them, and everyone on here (in the other threads on this subject) make it clear, I/you will topple over at some point.
I'm not sure how advisable it is, but for parts of my first ride I only kept one foot clipped in. And when I had both clipped in I made sure, when I was approaching a stopping point I unclipped one foot well in advance.
Time will tell but I liked the feeling of a more direct feel between foot and pedal.