I use Shimano clipless pedals (one set of M540 and one set of M520 that I use switch around on different bikes) and a pair of mountain bike shoes, also Shimano (SH-MT 21 is similar to the shoes I use). I can get off the bike and walk anywhere without being uncomfortable. In fact on my last tour I did not bring any other shoes for the 4000 mi trip. Works for me. Have a good ride.