My autocross shoes are Birkenstock (closed, regular shoes)
First of all, there's a lot of walking in a day of autocross, even without the course walking.
Second, I've driven in thin, sensitive shoes, but didn't care for it. I prefer firm, stable shoes, and on the occasional course that requires downshifting, the wide toe makes heel-toe easier.
However, while Birkenstocks are orthotic by nature, they don't have much padding. The footbed is actually quite firm, and not really all that thick, so I don't think I'm giving up much pedal feel. A thickly padded shoe would probably feel very dead on the pedals now.