I use these shoes:

Shimano MT-33l

With these dual-sided pedals:

Shimano PD-A530

Someone is inevitably going to say the platform side of the A530 pedals is not grippy, so I'll just get it out of the way and say it's not very grippy but serves the purpose.

I can walk in those shoes all day. On concrete there's an occasional small amount of cleat contact with the floor.