Yes, comfortable shoes exist, but you have to have them fitted properly to your feet.
One of my friends can wear only Crocs, and they were even recommended by her podiatrist. I can't wear them. They absolutely kill my feet.
I have short, wide feet with high arches. The back of my heel is made differently than most, and I have arthritis in my ankles and toes. What works for my foot issues may not work for anyone else.
I also can't wear completely flat shoes. I need a slight heel or wedge. I absolutely love my Sofft heels, and I also have some Soft Spots heels that I wear all the time. I wear sandals March to late October.