Totally depends on situation.
At home during seasons which are not winter it is bare feet. Having Raynaud's I have to wear at least socks during winter unless I want to spend a thousand dollars a month running the furnace on high 24/7.
Shoes and socks, or sandals (without socks!) when away from home.
I live in a farm country town and don't want what's on the bottoms of people's barnyard boots and they track around town as they walk getting on the bottom of my feet for me to track home.
At home, shoes get left just inside the front door.
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"There are a thousand things that can happen when you go light a rocket engine, and only one of them is good."
Tom Mueller of SpaceX, in Air and Space, Jan. 2011