Shimano SPD pedals in conjunction with the multi angle release cleats will work with an inward twist, the traditional outward twist and a rotation of heal toward toe. Typically, this would be the MTB pedals, however, the same cleat and shoe system is used with the A520 sport road pedals and the A530 sport road pedal with 1 platform side and 1 clipless side.
If you go to the Shimano.com website and mine down through pedals into road pedals and then into the sport pedals you can see them.
Unfortunately, the multi angle release cleats have to be purchased separately from the pedals.
This will provide you with a pedal system that has adjustable spring tension and a shoe that can be walked in due to its recessed cleats.
Edit: look at picture in pastorbob's post below.