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As a sandal wearer I have a pair next to the door for when I head out (and boots in the closet for bad weather). I just take off my sandals when entering and go about my life.
We do sweep very frequently, though, as we have cats.
If you prefer shoes you probably still want a pair of somethings you can slip on easily.
I usually wear slippers in the house. Taking trash out, I keep the slippers on. Driving somewhere? I swap into tennis shoes in the bedroom (I don't keep any shoes by the front door).
As someone with one leg 6mm shorter than the other and has had a history of knee/back problems: I wear indoor only crocs w' foam insole in one croc. You don't realize how much going barefoot or just socks in your home hurts your feet, knees, or back over time. Crocs have the perfect amount of cushion for me to no longer have constant feet and joint pain. I use Skechers slip-ins for quick outdoor things. I go back and forth between the two as needed without hassle.
You may not like it, but the easy answer to this question is Crocs. You buy them in bulk, leave them by the door, and slip them on to do your thing outside. Or I guess sabots if you are oldschool and French (they pair very well with some type of slippers we call "charentaises" that were originally made as inserts for sabots. So basically if you are using this ancient combo you don't even have to take your slippers off to go outside).
For the bike ride you would obviously get some proper "outside" shoes. Although if you have dedicated gardening shoes you could choose to keep them on if you don't care about looks (and if my grandparents were of any indication, I'd say that if you have grandkids, you don't).
I'm going to second this: a few pairs of Crocs, each placed at a strategic exit and going outside for a few minutes is no inconvenience at all anymore. For anything that takes longer than that, I put on suitable footwear for whatever I'll be doing.
It's exactly what you described. I have a pair of slippers and a pair of shoes. I change footwear everytime I need to pass through the door. You only need one pair of indoor footwear, just make sure you enter the house the same door you exited.