Like Bella23 taking shoes off when visiting, wasn’t a common practice in my recollection, but we did change to slippers indoors at home. Like others, I had designated indoor and outdoor shoes at my very particular school. DD2 and her DH often slip their shoes off here, but they’ve usually called after a woodland walk. I keep slippers at their house, as they take their shoes off and use slippers indoors, as does DD2’s family. However, when DD2 became a wheelchair user, we bought her a spare chair for indoors, so she didn’t roll ‘God knows what’ from her wheels around the house. Later, we ripped the carpets up and replaced them with wood.
Tradespeople seem to take their shoes off as a matter of course, even if invited to keep them on.
I do have a monks bench to sit on in my hall, which comes in handy.