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OK brains I've been getting a bit of grief for having flats on the new PlanetX.
I'm ready to try clipless but there is one proviso.
I use my bikes for commuting, going shopping in other towns (occasionally using the train too) and generally as a way of getting around.
So when I get somewhere I don't want a pair of those ludicrous rigid soled shoes that make roadies walk like they are trying not to let the diarrhoea slip out.
What is there in the way of clipless compatible shoes that aren't rigid disco slippers and are a pleasure to walk in?
Any non-race mtb spd shoe and a set of Shimano M520 spds. You can even get gravel shoes now although some of them are stiff and racey.
Yep, just pick what MTB shoe you fancy.
You can also get double sided pedals with a spd fitting on one side and a flat/cage style on the other - then you can just wear your civvies out commuting/shopping and use the SPDs when you want to get a bit more serious.
Just get some mtb clipless pedals and shoes. They’re easier to click in quickly to than proper road spds when pulling out of junctions etc in my experience.
The 520 shimano pedals and cheap and will go on for ages and ages with no maintenance. When I was putting some on my road bike for commuting I wanted to get light ones without spending too much money so I got some Boardman Pro mtb pedals which look nice and are light. They aren’t quite as easy to click into as the 520’s but they are good enough.
Shoe wise it’s up to you what to get - maybe avoid the really racey things with carbon soles but get something xc ish rather than skater shoe style.
I have always got on well with Shimano spd shoes (I have 2 pairs) and less well fit wise with Northward but fit is personal to you so I’d got to a shop and try some on.
So when I get somewhere I don’t want a pair of those ludicrous rigid soled shoes that make roadies walk like they are trying not to let the diarrhoea slip out.
Pick the right tool for the job, do you want a walking shoe or a cycling shoe?
Get an MTB cleat system with a recessed cleat and you’ll be fine. They’re OK to walk in and you just need to decide how stiff a sole you want.
Stiff, rigid shoes are better for riding.
Soft, flex soles are better for walking but can cause hot spots in the bike and feel vague.
Personally, I’d be looking at Specialized Sport shoes and a pair of Shimano 520’s as a reasonable compromise.
Actually, that’s not true, personally I’d be looking at some super stiff shoes, a pair of road based SPD-SL pedals and accepting I’m buying cycling shoes and not waking shoes. But I accept that’s not the answer you’re looking for. 
Something from the Shimano Mountain Touring (MT) range?
For SPD pedals, I think a bit of a platform can help. Gives you a bit more support, maybe more comfort for long rides, if your shoes aren't super stiff. So could help avoid problems with hot foot etc.
Shimano have a few road-style SPD pedals. eg ED500 or ES600. I'd rather have those instead of the M520.
I have these https://www.wiggle.co.uk/shimano-rt4-spd-touring-shoes/
Just the job for touring and gravel.
Ransos beat me to it - but i have a pair of Shimano RT4 with a pair of 540 dual sided spd’s on my Norco gravel bike and they are perfect for commuting, walking about in and actually riding gravel!
Been using Shimano A520 pedals for quite a few years useful as can ride to shops in trainers and they fall right to clip in with shimano mtb shoes that simply don't die and clear for me ok on road descents....not cheap end but if want road like performance these look interesting
 https://cyclingtips.com/2020/03/shimano-rx8-gravel-shoe-review-not-just-mountain-bike-kicks/
Apologies if an stw review available
I use the basic crankbrothers double shot for my road/multi use bike. Link below but they're light, cheap, have an mtb Q factor axle (or same as in the mallet DH) and they have a nice bit of float.
I’ve been getting a bit of grief for having flats on the new PlanetX.
A bit of a left-field suggestion here: spending money and emotional energy on what *someone else* perceives are the right shoes for you is a waste of your precious time on earth.
If you like flat pedals just use them. If someone give you a hard time, just ask them what makes them lack the courage to enjoy their own life.
I'm a big fan of these https://off.road.cc/content/review/shoes/shimano-2019-me7-spd-shoes-review-2873 for general riding, mtb, gravel, commuting, whatever. Really comfy for me straight out of the box. YMMV