At least I think so. The S-MX series of boots from A-Stars, the various sport-touring boots from SIDI, and even the Dainese boot line all have sport boots that
a) Don’t make you look like a freakin’ power-ranger (although you sure can if you want), and
b) Are perfectly comfortable to walk in.
Obviously, if you’re wearing an above-ankle boot, you’re going to get hot in summer weather, but that goes with the territory. Check out this earlier thread:
https://www.bestbeginnermotorcycles.com/forum/forum/1933/boot-recommendations#comment-13848
I really recommend that you go for a full fledged sport boot of some kind, though. The difference in protection is dramatic. With a semi-sport-oriented boot (even one like mine above), you get much better ankle, heel, and shin protection than you would in a more conventional boot or shoe. As you go up in the range, you also get much better protection from hyper-rotation. If you can find something in your budget, matching your ergonomic needs, and not embarrassing you at the supermarket, you should definitely spring for it.