I made the same switch, but I use Speed Plays; I never had any issues. I don't really understand what the issue is. With Speed Plays, you put your foot down and it's in. Once in awhile I miss, but the motion is so natural, my foot just slides in.
I never expected to walk well in road shoes; they are not made for walking. The most I walk around is to sit down and eat my lunch on a ride! If I am doing more of a "tour" type of day, my husband brings his Carradice bag and I stick my very light weight Keen sandals in there to slip on.