Its nice to be able to walk in boots,unfortunately if you crash and your 500+lb bike lands on your foot wearing softish comfy boots, walking may be impossible,its what Ive figured out after some years on bikes.
They say,dress for the crash not the ride. Ive got a pair of Gaerne SG12's and they are breaking in to the point where I dont notice walking in them so much,as for protection they are as close to ski boots as are made.
Adventure boots tend to be comfy and maybe half as protective as MX style boots,if your bashing offroad at all I would think about real boots.
Feet are gawdawful expensive to fix as are ankles.
Or just wear hiking boots and try to pretend like nothing will happen.
Some bikes around at times