I've never really understood why clip-less pedals are referred to as being "clip-less". Clearly you are being "clipped in". What I think they are is "cage-less" but certainly not clip-less.
I don't consider myself very graceful or well coordinated, but I guess I've snapped into pedals 10s of thousand of times. Can even do it on 10% grades from a stop without tipping over. So it's sort of second nature to me and I have to admit I can be insentitive or bewildered by people (like my wife and son) who have had problems getting in and out of them.
I think it comes down to anticipating when you might need to stop and disengaging from the pedal before you need to do so. I have the latest iteration of the Ultegra SPDs and they seem to hang in a more assessable position for getting into easily than previous models. But I guess it's just riding some and practicing. if I can do it, it really can't be very hard.