I'm using the Shimano XT M-785 pedals which are SPD pedals but they have a wider platform for increased shoe contact. I ride with Sidi Giau mountain bike shoes which have a very stiff sole. It basically feels just like a road setup but I can still walk around. After 100+ miles of riding I might have other aches but my feet are always fine.

Here's the pedal I'm talking about:

http://bike.shimano.com/publish/cont..._mountain.html