Also Minnesotan, when I don't feel like putting on my full winter boots, I usually go for a pair of regular "summer" hiking boots. I think this would fit your desires well, with decent tread for traction, many waterproof options, and you can choose either a high-top style for heel support or a lower cut style to really be more sneaker-like. On days where it gets icier, you can always throw on a traction device like Kahtoola NANOspikes or EXOspikes.

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