Reebok "walking shoes" or equivalent here, and I'll hardly ever drive more than literally just a few feet wearing anything else on my feet.
On the rare occasions where I have to wear "dressier" shoes, I'll change footwear when I get there and again when I leave.
I also keep a small towel in each car to step on when I get in to drive on wet days. One foot-slipped-off-the-pedal incident (clutch pedal, 2001 Maxima) is all it took.