We make a ritual out of uncollaring after walks and what not. We call our dogs over with the chant, "Let's get naaaaked…" And that's how they know it's time to take the collars off. My partner jokes that dogs, like babies, find nudity to be the most comfortable state. Kind of how like when I get home, one of the first things I do is switch into more comfortable clothes.
So we don't keep their collars on at home. At approx. 6 years of age, both are quite mellow, and do not seem to exhibit ANY inclination to bolt or escape. We also only have one collar for each of them, so with all of their jangly tags, it just seems like a lot to wear at a time, all the time.
Our Shiba, when he was younger, was a bolter, and so we kept his collar on a lot more back then, even indoors. He is also microchipped. We've lived in this one house now for over three years, and he has now come to naturally regard this as his territory and doesn't seem as inclined to explore the neighborhood as he was in his youth, when we had to move around more (he had lived in about 5 different places before the age of 2, so each new locale was full of explorable temptations outside).
Bowpi is not yet microchipped because she has shown absolutely no inclination to bolt... but I will get it done eventually, regardless.
My partner prefers to keep their collars on if we're both going to be out of the home for a longer period of time (which is actually very rare, given our lifestyles). In the back of his mind, there's a fear that an earthquake or some other chance mishap will occur while we're away and both dogs will be accidentally let loose. As paranoid as that might sound, I can see where he's coming from there...