For my local errand bike and folding bike, I use cruiser style/city platform pedals with a wide surface area. They provide good support without damaging your shoes.
For my commuter cargo bike, where I could be riding in rough weather, I use platform pedals with screws for grip. (raceface chesters)
(sometimes I use overshoes in the winter so I can't use cleats)
For casual riding on the trails with my mountain bikes, I use pedals that support the 2-bolt cleat design. The shoes have tread so I can walk easily even with the cleats in place.
For my road bikes, where I'm usually riding on the brake hoods, my preference is pedals with 3-bolt cleat design; most lightweight and the shoes have stiff soles so you don't waste any watts.