Here in Scandinavia, it's very rare to wear shoes inside. That's probably because most of the year the weather requires shoes that aren't practical inside and you want to leave your filthy wet shoes at the door and not bring the mess inside. Some people wear some kind of slippers at the office but mostly it's just socks.

I find wearing shoes for the whole day extremely uncomfortable.

But it's unlikely that you could sue anyone if you step on a tack either.