I also enjoy riding with "regular" shoes and "regular" pedals. But, many tennis shoes have soles that are too thin for long rides. A store near me often has "skateboard" shoes on close-out cheap. They look like regular walking shoes, but have a thicker, stiffer sole. I also like light-weight hiking shoes, for the thicker soles.
Recently, I have begun replacing the 1985ish "regular" pedals on my bikes with new BMX pedals. The 1985 pedals have support surfaces that are just 1/16th of an inch wide. They can cut into the sole of the shoe, which holds your foot in place. But, that thin "knife's edge" can be felt on a long ride.
My favorite pedals are some BMX pedals I found last month for about $10. The support surfaces are from 3/8th inch wide to 1/2 inch wide, and covered with rubber padding. Rubber "teeth" to grip the shoes. They grip tightly on the "slick" soles of the dress shoes I wear when riding to work, even when the soles are wet. They are wider than my widest boots, providing a huge 3 1/2 inch by 3 1/2 support platform, compared with the "half dollar" size support platform on some racing pedals.
A last advantage of BMX pedals: I can shift my feet forward or back 1/2 inch from time to time. That small change in position keeps my feet from getting tired, and a "fresh" angle seems to keep my knees and legs feeling good on a long ride. My half century old knees feel better after a twenty mile ride than they do when I wake up in the morning.
After "clip-in" pedals became popular with Pros, the number of Pro riders missing major races because of knee surgery went up. The newer designs with increased "float" may decrease the number of knee injuries, but...