For home use, being bare footed on top of any kind of grounded ESD mat is most comfortable and easy; you don't need to think about it at all. It's not that you suddenly develop a huge charge if you happen to rise both of your feet simultaneously for a minute.
In fact, being bare footed all the time tends to reduce ESD problems significantly even without any other measures.
ESD shoes are obviously available and not even that expensive, comparable to your average brand shoes, but why bother wearing shoes at home lab, but this might be a cultural thing, I don't know.