I keep my work-wear in my locker, so I don't have to carry around any shoes. If I'm out running errands, I don't care about walking around in my bike shoes for an hour or three.

I've got $20 Nashbar SPD pedal on my fg, and wear $35 Forte CM200 shoes. Never had any issues with them for comfort on or off the bike. Can't say for stability in skids since I don't skid.

(I wear the same cheap shoes when I ride double centuries on my geared bike, and the pedals on that one are 18 year old Shimano M545's. Definitely would notice if there was a comfort issue.)