For regular, daily use walking shoes I finally gave up and realized that if they were comfortable, they wouldn't be durable. The final straw was watching my $120 Nikes fall apart faster than the $20 WalMart specials.
I searched around and found these off-brand shoes for ~$25 They're totally comfortable for both my daily 5 mile walk and other activities. I've even worn them on a seriously gnarly 7-mile hike. (I laundered them in the washing machine afterwards, lol). I'm 6'2", 160 lbs. just to give you some reference point for wear. I bought another pair at the 5-month mark, but still use the old pair for work around the house. Here's what the old pair looks like now -- I bought them six months ago, and they've been through the wash once.