I used to go barefoot or socks only until I bought a house with tile floor and my feet started to hurt. So I started wearing slippers but never found them that great. I switched to these Skechers a couple of years ago for around the house and taking the dogs out.
Skechers Men's Equalizer Persistent Slip-On Sneaker
https://www.amazon.com/dp/B00L1UPB9I..._8NuWEbR3PZ8JA
Edit: just realized their price has gone up about 50% since my first order.