I think that if you’re happy on clipless and enjoy your riding (and not being “held back”) then why bother changing? I went from a lifelong clipless user to flats about 6 years ago, when I got my first FS, mostly because a riding buddy recommended it.
I don’t know why, but I’ve never really had an issue with my feet coming off the pedals, and certainly never been smacked in the shin, and I’m hardly a riding god. Maybe a few years of riding horses before switching helped with weighting through my legs more?
Tried going back to clipless a couple of years ago and hated it; I couldn’t stand the feeling of the float (felt like I was stood on ice) and that I couldn’t change the position of my foot relative to the pedal axle depending on what I was doing. For those reasons alone, I doubt I’ll use clipless again.
Edit: that’s on both a FS and a rigid SS.