I don’t really do this but I knew people who did growing up so I’ve got experience:

Laced shoes go on for big outdoor trips. If you’re walking around your yard or the immediate area it’s loafers/flip-flops/Crocs/etc, something you can slip on/off easily as you come in/out the house

It’s not really much of a time investment at all except if you live where it gets rainy and muddy, because then youre gonna put on more hardcore outdoor shoes like wellies