Originally Posted by Clipped_in

I'm riding Shimano XC5 MTB shoes (now the XC502) for gravel and I really like them. They're comfortable and very durable. Not nearly as stiff as my Bont Helix road shoes (ultra rigid), but that doesn't seem to matter. I would say they are medium stiff but flexible enough for me to stay in all of the time while bikepacking. I think the price is quite reasonable for the quality of the shoe.
Sounds to me like they may meet your criteria. Check 'em out:
LINK