Specialized Tahoe’s are a decent ‘everything’ shoe, they come with a full sole by default where you have to cut the rubber window out to use SPD cleats so you can use them with SPDs or leave them as a normal shoe.
They are stiff enough for riding, but flexible enough for walking, look enough like a ‘normal’ shoe to pass for a normal outdoorsy shoe off the bike and they are not expensive.
The new Specialized Cadet looks like an even better casual option too, might have to go and fondle a pair of them to see…
Other shoes are good too, but I have some knee issues that mean the BG insert footbeds are a necessity for me, and so I stick with Spesh as they work for me and I can use the footbeds in any of them, also why I use SPDs on the road instead of normal road cleats, allows me to use the same shoes for MTB and road, but I also use Five Tens and flats on the MTB and do most of my commuting and utility/towing riding on flats as well.
Pedal wise, don’t over think it, just use a decent flat pedal that you’re comfortable with, super grippy and super big MTB platforms not necessarily a good thing on the road if you need freedom of movement and clearance, so don’t be put off by older models like V8/12 with shorter pins, or Welgo copies. Some of the specific touring platform pedals are great too, but you need to find what works for you.