As soon as I get home, the shoes come off. A lot of the time I have socks on, but I'll take them off if I'm really hot. I put something on when out in my yard because it's rough, long stabby pine needles, pine cones, pieces of tree twigs, the big birds like Magpies and Crows make huge nests in my spruce/pine trees and they ultimately fall to the ground because the birds are fighting or there's a battle with the squirrels.
I have an old pair of short waterproof boots that I can just step into easily in my garage, and I do that when I'm in the yard mowing, or just now when I went out to put on the sprinkler.
I also have an old pair of swim shoes, never used for swimming, but handy and comfortable to walk in the yard or to the mailbox. Back when I was working I had Plantar Fasciitis for some time, but massaging magnesium oil into my arches a couple of times a day. I did get relief and it's been years since I had any pain from it.
My puppy chews on wood, pinecones and will bring in an occasional brier, so I will step on things that I have to remove immediately, my feet are not tough. For the most part, on home turf, I'm barefoot to some degree. My husband is the same way, we like to be comfy at home.