I've lived in both shoes on and shoes off households and I'm sorry, but shoes are filthy. I wipe my dogs paws when they comes in from walks and their paws are filthy and I wipe them every single time they come back in from walks. Shoes are never wiped.
Take a second, get a tissue, and go wipe the bottom of your shoe.
Take a second, get a tissue, and go wipe the bottom of your shoe.