I have always used cleats to attach myself to my pedals. All the additional power you get on the upstrokes is certainly worth it (reportedly up to 10%). When touring you can be in and out of the SPD pedals a lot, so I use these Shimano SPD pedals because they are quite large and can be used with normal shoes too. They are easy to pedal without fully clipping yourself in which is useful in towns. Thoroughly recommended so get some additional power.