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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.
How do you find the velcro and lace up versions compare? I've got a pair of the older, velcro style that I absolutely love but are getting absolutely knackered. If I had the option to replace them like for like I would but the lace version seems to have replaced them!