Prior to Covid and working from home, I only wore my slippers indoors.
But, then I started working from home; been doing it for almost 3 years. With that, I started to dress as if I was going in the office, and often at lunch, I would dash out for a bit (fresh air and sunshine, and all that).
Being dressed 'properly' and with shoes on already, allowed me to just leave, and not have to worry about going an putting shoes on...