One thing to be discovered.. off the bike, a heel to toe stiff shoe, your foot will come out at the heel from the shoe.
as you walk, for obvious(?) reasons..

better to have a large platform pedal , and a ball of the foot to heel stiffener insole , so the pedal does most of the foot support ..

I have been using Ergon Pedals and some pretty soft sole shoes, myself ..

their concave surface tends to locate my foot well, where it needs to be.

this is around town.. But on long tours , I used something else..

Fave insole: boot 3/4 Birkenstock , ( you'd have to get them from .De, now.)