Usually my last pair of athletic shoes, where the soles are a bit worn out for walking around in all day but fine when placed on pinned flat pedals.
What I find is that a softer rubber sole will grip the pins better, but will be more flexible so my feet can get worn out. In the cold, I'll deal with the muscle aches in my feet to get the extra grip that a harder sole won't have when cold.
Conversely a harder sole will grip okay in the summer. And be less flexible so better on my feet.
Right now I'm still using a softer rubber sole shoe because it's what I've got.
Like you though I like a more minimalist shoe, at least in terms of how thick the materials are (thicker sole would be fine). The smaller the shoe the less it rubs on the crank arm or something.