My philosophy is a home is meant to be lived in. It’s not a museum.
I had a good friend growing up who’s mother insisted on the no shoes thing, but also full plastic covers on all the furniture, and you had to brush yourself off before coming inside. She and the live in grandmother were actually militant about anything or anyone not 100% clean coming into the house. Naturally we kids hated going over and never played there. I felt sorry for him.
Yeah, take off your muddy boots or shoes, so it isn’t tracked all over the house, but otherwise no worries and just be respectful. Dogs, kids, family gatherings, life… The floors are going to get scratches, things are going to wear out. Find a happy medium. Not gonna sweat it. I’ll refinish the floors and make everything shiny right before I sell the place.