I currently have a set of PD-540 SPD SLs.

Very happy with the clipped in performance, but locating and clipping in can be a bit hit-and-miss when stopped at the lights or whatever.

Do the higher end Shimano pedals (105 or Ultegra) have any smart design features to make this easier?

🙂

In a word no. Road pedals are one sided. I always find mtb spd pedals distinctly easier to clip in.
Have you tried backing off the adjusters?

Cheers, I’m happy with the tension – just wondered if the higher models were any better for guiding the cleats into position when clipping in.