Shoes and socks off when I'm home, regardless of company. Barefoot is the best feeling. If my feet get cold, I'll relent and wear slippers for a while until my feet warm up, then they're off again.
Even at work, I sometimes take my shoes off and just wear my thin dress socks if no one else is around. Feels good to let the toes stretch and breath.
But in general, I think my grandma is the only person I've ever met in my entire life that wears shoes in their own home. She has a separate pair of indoor shoes that she inexplicably wears instead of slippers.
Shoes off make more sense overall but I admit it's pretty goofy at times. Throwing a party with 40 people and all their footwear left at the door. Weird.
Ideally society would just get rid of rugs and carpet in all homes.
This is how we did it. Just a big pile of shoes in the porch area. Nobody really cares whose shoes you're wearing if you need to go outside for a smoke or whatever at a house party. Just put on whatever and yell out "I'm borrowing someone's shoes!" Then 2 minutes later the actual shoe owner comes by and says "where are my shoes? Whatever, I'll just use these ones. I'm borrowing someone's shoes!"
But then I never partied with shoe-stealing randos, so it was never an issue.