For boots, I haven't found a comfortable casual urban looking motorcycle boot. Let me know if you do because I'd like to give anything reasonable a try! I used to ride in Doc Martens and Red Wing Iron Rangers but luckily smartened up and switched to proper motorcycle boots before having needed to. Many of my friends wear the TCX Hero boots and love those, they just weren't comfortable footwear when I tried them on. I have an "Eagle Creek" brand travel bag meant for carrying shoes in, and I just bring a pair of shoes with if regular motorcycle boots aren't going to be appropriate for the off-bike setting. I tend to shy away from motorcycle shoes due to their lack of coverage in the lower leg, which is a common crush point in accidents and a personal concern for me.
As for motorcycle pants, my first "casual" motorcycle pants were Tobacco Motorwear denim jeans with Kevlar lining. They were a good option at the time, but they were still too hot and there's much better options on the market now. Most recently I have been wearing Pando Moto Boss Dyn 01 as a casual option. The Pandos are class AAA pants so they don't have gaps in abrasion resistance like the pants that only have abrasion resistant lining in the common contact areas, and they breathe better though they're still heavy jeans. The SAS-TEC armor that came with them is flexible and not bothersome or too noticeable at the knees and hips. If I could change them at all, there's a small logo embroidered at a pocket corner and I'd ditch that, and I'd make them slightly higher rise at the waist.
That's just what's been working for me, and I'm often on the lookout for options that will work better. Everyone's going to have their own style, fit, comfort, budget, convenience, and risk management to consider. In my opinion, best thing you can do is get your own hands on some gear and try it on to find what suits YOU. Head on over to a moto gear shop if you can. If you think you'll be spending your money at CycleGear or RevZilla, check out their rewards program and consider if it might be worth the membership cost to you.