I agree with the SPD Shimano MTB pedals and shoe. I actually got that exact shoe last week. Great shoe for your purposes. The MTB clipless is two-sided and clips in easily since both sides of the pedal clip in.

I recently tried some Candy Crankbrothers with my other MTB shoes. They also are two sided entry. Expected them to be better, but I find it more difficult to quickly clip them in somehow than the SPD's. Maybe I just haven't used them enough. They do offer a bit more float and you can get out of them a bit easier, but it really isn't as big a difference as I expected. The clipping in is worse than I expected. The SPD's are just easier to me at least.

Either beat using road pedals because of the one side entry and the need to use road shoes should you need to walk much.