Like said above, unfortunately good shoes for cycling have completely different traits than for walking. I've been searching for awhile and I have to just resign to that fact.
I have a bad knee which doesn't like bending much past ninety degrees. This means my saddle must be positioned perfectly, and clipping in is almost a must, because my right foot tends to creep forward so I pedal with my heel...
I think I just need the half spd/half platform pedals, and use good mtb shoes for pure commuting, and throw on sneakers if I will be doing more walking.