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To be honest I can't say I notice any difference in sole stiffness and walking experience between the two but I do feel that the lace-ups offer better fit thanks to the adjustability. I thought I would hate having to be mindful of tucking the laces out of the way but the elasticated loop over the lace bed actually does a really good job of this. My velcro ones have been relegated to bad weather commuting and the lace ups get used for all other rides.
I went from SIDI’s (road and mtb) to Giro Privateers and have been super happy with them. I have a pair of the Velcro ones and the lace ups and I particularly like the latter. I think if you’re not fussed about boa dials I r a super light shoe the privateers are hard to beat price wise. People say the fit is quite narrow but you can order half sizes (U.K.) or they do a wide fit version of some models.