I ride a recumbent trike, where some sort of pedal retention is a safety-critical item.

I forget what exact model my Pearl Izumis are - X-Roads, maybe? - but they're reasonably walkable (not the most comfortable, but I have no problems walking all over a store looking for things, when I ride the trike to the store), and were the only cycling shoes I found that weren't torture devices for my feet or fit poorly otherwise.