I use three difffernent buckets, all have different lid designs- one of the familiar "Ale Pail," three "US Plastics," and some smaller 3.5 gal. "Ropak" brand. Some are easier than others, the "Ale Pail" being hardest to remove. But from my perspective, it's just not that big a deal. Start in one spot, work your way around, and when you've gotten enough of the lid up, it comes off.
My preference? The "US Plastics" 7 gal. bucket. It's got a taller profile than most buckets, so more headspace. Cheaper to buy than the "Ale Pail," and not only does the lid incorporate an "O" ring seal that actually DOES seal, but the lip of the lid has more to grab onto, so it's easier to remove.