You might try Clarks, including their Privos brand. Most of the shoes I have from them are comfortable for walking.

FWIW, I spend the holidays on Long Island every year and when we go into the city for the day, I don't wear insulated shoes or boots and I'm generally comfortable. And I'm the kind of person whose feet are like ice when I'm sitting still in moderate temperatures. But as long as I'm walking around, regular shoes are generally fine.

I would try to find something that is not too tight, so you can fit a good pair of wool socks under them.

Also fwiw, I have a pair of fake Ugg boots (I think the brand is Eco) and I think they are *not* good for walking. There's no support in those things.