Two years ago when I retired I bought a hybrid bike to ride with my road bike neighbors. I knew I would not be into street riding. I use my bike similar to what you described for yours. But my road bike folks said get these and you can try out being clipped in or not:

https://www.amazon.com/Shimano-PD-M3.../dp/B00AZ2OID8

I bought a pair of Giro shoes and at that time, I got them for 50 dollars:

Giro Junction MTB Shoes - 2015 Performance Exclusive

The above shoes are not high end at all, but they are comfortable(just replaced the shoe insert as it became compressed). I have walked everywhere in them when riding and I am actually wearing down the tread so that the metal cleat is now always making contact with the ground. Lots a squeaks on pavement. And in a store I have to be careful on tile as it can be a little unsteady. I usually walk on the edge of the shoe then.

Now on being clipped in. I started off as a dire hard clipped in biker. Worked on the perfect O's or wiping your foot on a mud scraper on the down stroke prior to pulling up. Yes you feel like you have more power to the bike. But for my riding, is it worth the chance of falling because you forget to clip out. You will fall at least three times prior to getting the hang of it. In the end I decided that at my age I need to take the least amount of chances. So, I only now use the non-clipped in side of this pedal. If I know I am going to be on a long ride with few people I have clipped in just to do it and enjoy the change. So, I am looking at getting some platform pedals and a plain/MTB shoe at some point. I do think you want a biking shoe of some kind, as the stiff front does help. I tried my Keens and they are not stiff enough for a long ride. The ball of my foot goes numb.