It’s a great feeling sliding into some lightweight slippers after a days hike. Way back when I even used to carry a pair of foam sandals for that purpose. A couple years ago I started carrying a cheap pair of socks instead. I would take the innersoles out of my boots, and slide them into the cheap socks, then pad around camp.
Lately I have moved to a lighter weight pair of hiking shoes. I find if I just take the inner soles out, the hiking shoes have a whole different feel. This same technique works for my boots. Mostly I leave the cheap socks at home now.