Came across this website while I was searching for clues why my shoe laces come undone or loose after 8-ish kilometer of running.
Check out the Ian knot, takes some time to get used to it but now I can save 2 second off my shoe lace routine! since I tie my shoelaces at least twice a day when I do exercise, that’s a whole 4 seconds!
The rest of the site has other information on knots as well, so its not just the Ian knot.