The books of Exodus and
The books of Exodus and Joshua make it clear that holy ground should be stood upon barefoot rather than minimalist.
This coming Friday at sunset begins the Jewish Day of Attonement, Yom Kippur.
Most Jews believe that leather shoes are not to be worn on this highest of holidays, but will explain that synthetics are just fine.
Indeed at any Conservative, Reform, Orthodox, Reconstructionist, Secular Humanist, Traditional, Independent, Renewal, or Sephardic Synagogue you will see all congregants shod in a variety of synthetic shoes, with the exception of possibly some very young girls that have slipped out of theirs.
The non-leather footwear allowance is just taking advantage of a loophole, the scriptures of course only said "Don't even strap the leather from an animal on your feet on this day"
Never mind that no other form of footwear existed at that time (maybe hemp?), but the intent was clear.....one was to remain barefoot on Yom Kippur.
I've gone to services barefoot at a Chassidic Synagogue, and at least was allowed in. For some reason I believe if a grown man were to arrive barefoot at a mainstream house of worship in a suit he would be questioned and maybe told never to return that way.
These notes are from October 1964, in which the author explains that bare feet are what is required, and goes on to explain interpretations of why.
VERY interesting thoughts at the bottom of page three and top of page four!
http://brussels.mc.yu.edu/gsdl/collect/lammserm/index/assoc/HASH0fef.dir/doc.pdf