I used Shimano mtb pedal like m510 for a few years, but found I could pop out unexpectedly sometimes. Before that I tried dual flat/clip but found them annoying to clip in.
I switched to Time ATAC many years ago and they retain very well and super easy to clip in.
For shoes I use Shimano touring RT82 and have sneakers at work
Recessed cleat and easy to walk in.