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Notes -
This sounds super weird to me. I did entry-level competitive cycling on a college team for a few years, and have never heard of that being a problem for anybody. Even with plain flat pedals and ordinary shoes, your foot shouldn't ever slip off. Maybe you're trying to pedal way too fast or have some kind of weird foot motion or position or something. The axis of your toes on your foot should be roughly directly above the axis the pedal rotates on.
Pedals with straps to hold your foot on are indeed a thing, as are various types of "clipless" systems where your shoes lock in and only come out with a specific twisting motion, but they're only really beneficial for allowing you to exert force on the pedals on the upward stroke. If your foot is coming off the pedals, you should fix whatever issue is causing that before you do an equipment change.
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