I may have to go into hiding for this .....
When I first tried clipless I had Shimano shoes - which I subsequently sold with the pedals - which I didn't find very comfortable for either cycling or walking.
I'm now having to go back to clipless, at least for a few months, and I'm using Lidl cycling shoes - which I'm finding comfortable on the bike and acceptable for walking.
A drawback with using theirs is that they're only available a couple of weeks a year. The cycling kit weeks seem to be in April and October but usually get flagged up on thiis forum. An advantage is that they're surprisingly cheap and my original pair have been in regular use for nearly 2 years.