Don't overthink the issue. You have road shoes,gowith road pedals. MTB pedals are fine, and the shoes are easier to walk in, but unless you're going to hike in your bike shoes, it's a minor point. You'll note that roadies have no problems walking around cafes, coffee shops, races, bike shops, or other places they ride their bikes.

FWIW, I run Speedplays, and with the rubber cleat covers, they're pretty comfortable to walk in

All cleats are easy to get in and out of - I find the Speedplays easier than most, and enjoy the float, but there's a reason they make lots of different pedals.