I have used clipless for many years, starting with Time Atac with its bronze-type shoe cleat that wore out in a time that became disconcerting. Still have the five or so Atac pedals in storage, but I now use Shimano pedals.
For touring and shopping, I use the pedals that have clipless on one side for cleats, and flat on other side as ordinary pedals... means I don't have to wear cycling shoes on bikes. The Shimano cleats are steel which makes them last much longer.
Best to wear bike shoes on tour that accommodate weather needs -- temperature, wind and rainfall. Good depth of the soles and a good size for taking cleats are important features for wear off the bike, including shopping and hiking.. The shoes I have used always let me put the cleats far enough back to make them comfortable in the soles and calves on long rides.