My boyfriend has Specialized S-Works shoes (carbon sole and a cool BOA closure) and likes them a lot. It was horrendously difficult to find a shoe that he didn't find uncomfortable for some reason -- we spent hours and hours looking.

In general, I think the difficulty of walking in road shoes/cleats is greatly exaggerated. It's really not that bad, even without cleat covers. (I don't have them actually -- though every time I walk over muddy ground and have to clean my shoes before I can clip in I think I should get a pair ). The comfort factor -- at least on the bike -- is more related to fit than stiffness, I think, and making sure you don't fasten them too tightly if you are prone to numbness.