I was in the same boat. I wanted a pair of shoes I could do some cardio in like junprope then use to just throw my pack on and walk a few miles with the dog.
Based on recommendations from rokslide, I picked the altra lone peak shoes. I have not tucked in them but once or twice before the winter really set in but they worked great for what I wanted.
The first time I used them I did a junprope/lunge workout which lasted ~ 45 minutes then right away threw on my Kifaru 14er with 30 lbs in it, leashed my dog and went and did a “fast” 3 mile walk.
The shoes were perfect for that. I really like them and I’ll buy more. For any workouts that don’t involve a lot of impact though like rowing or hiit stuff, I like my inov8s best. It for jump roping and rucking the altars are nice.