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.