That’s what house slippers, thick socks and some good rugs are for.
You can accomplish the same thing with just normal socks though. Slippers-without-socks is a sweaty stinky nightmare and with socks is just a hat on a hat, thick socks have the same sweat problem unless your springing for merino wool which is expensive (especially for something as transitory and utilitarian as socks), and good rugs are really fucking expensive and only make sense in certain parts of the house.
You can accomplish the same thing with just normal socks though. Slippers-without-socks is a sweaty stinky nightmare and with socks is just a hat on a hat, thick socks have the same sweat problem unless your springing for merino wool which is expensive (especially for something as transitory and utilitarian as socks), and good rugs are really fucking expensive and only make sense in certain parts of the house.