Walking, looking almost normal, long cleat life = SPD and the A520 or A600 are great. A600 is my recommendation. Smaller, more “acute” pressure points.

Riding, performance underway, larger footprint, dorky off the bike = Look, Shimano SPD-SL, many others. I like Look Keo and Keo-compatibles. The Optigo Thrust 7 and 8 are my recommendation; lighter than Dura Ace and 1/4 the cost.