I have tried a ton of options. I have settled on pinned platforms and 5.10 shoes. They have a sticky sole and are comfortable to hike and walk in. Tons more so than Clipless bike shoes.

I stick to the pedals in all conditions. I was worried that the pedal pins would shred my shins. Has never happened. You can shift your foot position while riding to avoid foot numbness. The major plus is I can get my foot down in a second without thinking about a releasing motion. Its very natural.

http://allseasonscyclist.com/2012/01...inter-cycling/

The link is a review of the platforms I use.