For rides I do with my wife, I use a Jamis Renegade that is the bike I use for light touring and riding on dirt/gravel roads, rail trails etc. I put-dual sided pedals on that bike, so I can ride with sneakers when we'll be doing a good deal of walking in addition to biking but use SPD cleats/shoes when I want to.
Every time I go back to flat pedals/sneakers I rediscover how much easier it is to get started from a dead stop with one foot clipped in, especially on an uphill stop. And my feet never quite feel like they are in the right spot.
I did find a set of SPD shoes that are have enough tread on the sole to keep the SPD cleat recessed and are stiff enough to be useful biking but not so bad walking in - good for touring as the only shoes I bring. But, longer walks or hikes in sneakers are way more enjoyable.