I had a T that was also a yogi, and she regularly did sessions without shoes... and while we sat on the floor... I only took my shoes off if I had flip-flops on and we were on the floor (makes for more comfortable sitting), but I don't think she ever wore shoes through an entire session.
I have had other T's that wear sandals and such, which is pretty much bare feet with a few staps.
I think the only time I took off my shoes recently was when I scrunched up on the chair (shoes on the furniture was always a huge no-no in our house growing up), but I wear flip-flops to session these days, so like sandals, it's already pretty much bare feet...