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Nothing like a 6-yr-old thread popping up unexpectedly! *lol*
We are a mix. My kids normally throw off their shoes as soon as they walk in the door. My husband and I usually leave ours on until we change out of our work clothes, which sometimes can be after dinner if we get caught up in doing stuff when we get home.
I let my guests decide. I don't care what they do. Some take them off, some don't.