I commute to/from work in Keen SPD sandals - comfortable, and I can walk in them with no issues. I wear a pair of Pearl Izumi Vagabond shoes when doing my weekend rides - stiffer sole, still walkable.
I tried using a pair of road shoes for a while, but never bonded with them, they were fine on the bike, but so hard to walk in I just never felt that it was worth-while. Perhaps if I were to ride more and stop for pie less, my opinion would change, but I am not sure that I am willing to try that experiment.