For sport-touring, clipless pedals with MTB shoes are great.
For expedition touring, you may have to walk some distance.
Ive hiked in Shimano leisure shoes and boots with no problems. MTB racing shoes often have a hard plastic studded sole which is grippy on the trail, but on slick pavement can be a problem. Leisure shoes tend to use more rubbery soles.
You can still use toe clips with a trail shoe. You wont win races, but they work.