For Brian we carry 1 pair 'performance' (cowboy) boots, I pair hiking boots, I pair of sandals, and one pair of slippers - moccasin style.
For me, we carry three pairs 'performance' sandals, I pair regular open-toed sandals, and I pair of slippers - moccasin style.
We both prefer bare feet inside our RV. Since I don't (can't) walk more than a few steps several times a day, I'd say that I have bare feet probably 20 hours a day.
We're in a 28' Class A, not a van, so we have a bit more room, I should think.
Shabbat Shalom,
Jesse.