Perhaps you’re overthinking this? In the house you can go barefoot, keep socks on, and/or wear slippers/loafers.
When you go outside you put on shoes.
So yes most people would have a shoe rack or just keep their shoes placed near the door. If you have multiple doors sure you can consider keeping extra pairs of shoes there or some sort of in between like outdoor slippers/something for when you just need to go check the mail or whatever.
I’ve been fully onsite basically the whole time, including during the pandemic, for me it’s been fine. Gets me out of my tiny studio apartment and keeps my work life at work. Also free A/C / heating at work.
The commute is also part of that decision making - for me the commute is a long walk outside to/from work every day. All that walking around outside sort of levels me out mentally & gets rid of any stress I had, not to mention the exercise.