We have doormats outside and inside the front door, so it's very rarely that mud or dirt comes in on people's shoes. I wouldn't dream of asking people to take their shoes off, but it seems to be common practice these days.
I'm in a social group which is predominantly older women who meet in one another's houses, and the logjam in hallways as numerous arthritic and wobbly people try to fasten shoelaces and bend down to pull on boots at the end of meetings has to be seen to be believed. It's not so bad if there is somewhere to sit, but even then it's not easy when people have dodgy knees, gammy legs and bunions.
I would take off muddy hiking boots though!