I use Time ATACS and a Specialized MTB shoe. On the road.

I commute everyday to work one mile with either sneakers or boots and no problems.

I take winter rides in non SPD boots for long distances: no problems.

I have done centuries in the MTB shoes: no problems.

I have waked home over 5 miles in the Specialized shoes, no problems, maybe not the most comfortable footwear for walking, but doable.