There are heaps of boot threads at advrider.com that cover the merits of different dual sport boots out there.
I'm using Alpinestar Tech 4's at the moment, they're light enough for road use, and protective enough for what I do on a bike. They do have the MX style saw tooth tread, so not much grip - still better in mud than Sidi road race boots.
Other dual sport boots to look at are the Gaerne Explorer and Sidi Discovery.
If you want to walk in them it'll always be a trade off. Stiff soles and toe caps provide protection, but are a nuisance to walk in.
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