This year I decided to just stop untieing my shoes. Now I just slide them on and off still tied. It's by far the fastest and best way to use shoes. And once you tie them well once, they don't come undone while walking.
This is certainly true of shoes with those plastic inserts around the back. I mostly wear casual shoes, specifically the Adidas gazelles which do not have anything rigid on the back and have a low friction leather outside which makes slipping them on easy.
They are sufficiently tight for me, no wiggle. It does depend on the shoe though. With some its very easy and some its hard and risks damaging the back.