There's a shoe that's just right for every occasion. For our children, protection is the primary consideration. And until an infant is walking, the only protection needs to be from the cold, so the foot covering doesn't necessarily have to be a shoe until the child is able to stand or is starting to walk. Be sure your floors are clear of pins and needles or other sharp objects. When children begin to walk, shoes are needed for protection from terrain as well as cold.
Comfort is also a consideration.
You don't have to worry about knowing whether the shoes are comfortable. Your kids will let you know. The first questions parents have about shoes concern what kind to buy. High-top shoes will not provide significant ankle support. They aren't high enough or substantial enough.