Superfeet insoles or similar, that offer a 3/4 arch support stiffener, turn a regular shoe
into a cycling friendly stiffened shoe..

big platform pedals also help .. Ergon my new Favorite..
I wear shoes that I can stand on the concrete floor and work in for 8 hours..

there are touring shoes for Spud pedals with rubber soles,
no one forces you to fit the SPD cleat.

they come with the pedals anyhow..