I know that captive key deadbolts are offered as a solution to this dichotomy. Captive key deadbolts are a hybrid of single- and double-cylinder deadbolts, where the inside thumbturn is removable when the deadbolt is unlocked.

While you are at home, you leave the thumbturn in the lock for fire escape purposes. When you leave the home, you unlock the deadbolt, remove the thumbturn from the lock, then lock the deadbolt again from the outside.