Most of the time, yes. I find an old pair of running shoes is the best. If you have the choice, a pair of light trail runners. They'll easily fit in your panniers and they're not bad for a hike.

But this summer, I'm doing the Great Divide Route. Since I'll almost always be away from humans influence, I feel my needs could be covered by one pair of shoes. I'm trying the Pearl Izumi X-Alp Seek.