the problem with "inside" tool contact screw heads (like hexagon & allen keys) is
1) the small inside surface that has to pass the tools force,
2) the small momentum the tools force has on the turning axis (due to the small distance from the center) and
3) the larger outside surface that sits close, or makes contact with, the material on which has to be mounted.
I think there isn't any alternative than hexagon due to the small available area.
So, it's all about prevention. I put the same oil as my chain on thread of typical problematic mounts (automotive oil, because it was cheap). Since, I didn't have hard times anymore when having to replace a pedal. The days of putting the bicycle against the wall under the window then jump on the big key are gone.