Within reason -- any time you can get your kids OUTSIDE with bare feet is a good thing.
Last night we walked to the park with their shoes in my pocket starting out. We got to an area that had stickers so we put them on. When we got to the park it had those wood chip things on the ground so they kept them on while they were playing in the playground but took them off when they were playing on the big rocks which bordered the playground.
Don't just go to shoes as the default. Look for opportunities to be human.
Strengthening the connection between neurological system and proprioceptors on the bottoms of the feet is HUGELY important. Find ways to free your feet.
It all starts with the foundation. And despite what aliens would think if they took a sample of human "foundations" ... it's NOT the sit bones on the underside of the pelvis...it's your feet.