Today I visited the home of an alcohol-using client with his social worker. This time I certainly did not take my shoes off, and neither did the social worker. The house was absolutely filthy, with dried vomit on much of the floor. Remarkably, the social worker said it was not as bad as she had expected. She must have seen homes in terrible conditions.
The carpet looked like it must have been very nice, if only it had been looked after.
However, most homes are not like that, so you should take your shoes off and expect others to do the same.