I'd say try a set of speedplay frogs. They're technically mtb pedals, although I'm not sure I'd trust them if I did any serious mountain biking (they detach too easily). But luckily I mostly ride road and do baby mountain biking. They mostly recess into the shoe and are easy to walk with.
I would avoid road pedals if you want the ability to walk some.
I have one knee that has tracking issues, and I don't have any problem using frogs.




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