I use the Look style pedals and cleats with well-worn Sidi shoes. For long rides at rest stops I do walk in them, but obviously not a heel-to-toe walk. If I had to walk any amount beyond a few hundred feet, I'd take the shoes off.

I really like them.

For my mountain bike, I use a basic shimano pedal and a pair of stiffish Nike mb shoes with rubberized tread - I still wouldn't want to walk a mile in those shoes but they do great for pushing the bike through a rock garden or walking up a hill.