Look at Shimano M086 shoes maybe? They're comfortable and have rubber soles with tread so you can walk on them. I just walked a little over 4 miles yesterday with a flat tire. The shoes stood up and I stood up.

The problem with the road clipless pedals is the cleats are rather large and I don't think they'd be comfortable to walk too far in.

When I was asking about pedals, people were suggesting something that either had a platform with clips in the middle or one side clipless and one side platform. Crank Brothers that makes egg beaters has a few sets of pedals like this.