+1 for MTB shoes with the cleat cover in place. I wear MTB shoes with cleats for all my riding and they are quite comfortable to walk around in at rest stops or anyplace I want to get off the bike for a while. They look like regular athletic shoes, work just like regular shoes on most surfaces, and don't draw any attention. I have dual sided pedals and sometimes ride unclipped on the flat sides and they work great. There are also touring shoes that look a bit more like casual shoes than athletic footwear but still have a walkable sole. Both MTB and touring shoes are stiffer than regular shoes but not as rigid as road cycling shoes. The recessed cleat keeps the whole sole in play when walking. I hate going into a store or cafe walking like a deer on ice and sounding like I'm wearing taps so "real" road shoes are out for me.