If I haven't put on my shoes for the day, I walk around the house barefoot. If I've put on my shoes for the day, I don't take them off until I go to bed.
read doormat - though it is one of those special ones where you don't need to wipe your feet, just walk over it (great for wet wheels - stops tramlines on the floor). Actually my vestibule, entrance, foyer, whatever you want to call it, is 9 feet square and has a special no-slip surface and a parking area for an electric wheelchair - so I guess it qualifies as a "mud room" without the dividing door to the hall/passage. My front door is nearly 3 feet wide and opens outwards for easy wheelchair access.