When I'm doing on-tarmac only riding on a roadster, hybrid or drop bar sports bike (I shall refrain from calling a vintage 531 Dawes a "road" bike in the modern sense) I often use a pair of cycling shoes I got in Lidl on one of their promotions. These are basically trainers with a beefed-up stiffer sole, and are great to ride and walk around in. They cost me £15 and if I see any more of them in a future promotion, I'll be getting another spare pair to stash away..
For MTB riding in woods, I usually just put on an old pair of safety work boots - which also have a fairly stiff sole and some ankle protection. I don't care if they make me look like a builder on his commute, as they have nice grippy soles, are good to walk in, and they don't cost me anything.
I suspect a lot of cyclists choose particular wearable items for the "serious cyclist look" they want to project, and not because the things are necessarily any better than more everyday, casual wear alternatives. For many, cycling is all about style over substance and everyday practicality (such as the ability to walk in cycling shoes) is not high on the list of priorities. The sight of clipless roadies all hobbling around at a café stop might be normalised in their own minds, but any non-cyclist observing such a scene will just conclude the riders are weird masochists!