Funny to see the note from the fellow who grew up racing road and track so can't use anything other than "stiff high performance cycling shoes". I've got the same background, but after trying a bunch of different combinations, have largely settled on Carnac Carlit touring shoes (with a fairly soft rubber sole) and MKS Sylvan touring pedals with clips and straps. This setup gives me next to no retention, but I've found that barely matters for relaxed cycling. And the shoes look (and walk) normally enough that I never feel out of place at the market, restaurant, etc.

FWIW, back when I felt that I just couldn't survive without some kind of retention system, I used Shimano A520s with Pearl Izumi "X Alp low" shoes. Still a very walkable combination that doesn't look silly when paired with "street" clothes and doesn't mar the wood floor.