I am a huge fan of rubber pool slippers for house shoes, and have had the current pair for about 3 years. While they are not soft on the inside, they meet the rest of your criteria- along with being extremely easy to clean (the one problem I had with soft slippers in the past- after a while they’d get funky, and wouldn’t hold up well in the washer.)
I liked my Lamo slippers , I wore them to death and had them for about 4 years . They are made of sheep skin have a hard rubber sole . Mine come up to my ankles and kept my feet toasty warm . I wanted to buy some more this winter but there was done left . They cost about $60 I think, I got mine on sales .