On bike, I enjoy using clipless. The aspect of them I hate is when I have to walk around on the cleat. They are slick as can be and really hard to walk on with a prosthesis. I prefer using the MTB type that are recessed up into the sole of the shoe. I do note a pretty significant difference in regard to the stiffness of the sole. My SPD shoes seem to me to be more efficient and effective getting power to the cranks.
Something I have noted while riding without clips is that the arch of my foot tends to hurt a bit after riding a while. This does not happen in my cycling shoes/cleats.