A shoe of a halitza

Hello!
From reading the Torah verses dealing with the situation of taking off one’s shoes, it seems that this is a situation that concerns rebuking the heart of a person who refuses to take off his shoes. It is possible to give other reasons for this situation, but it seems to me that, based on whatever reason there may be, it would be difficult to find a reason to list the details of the laws concerning the shoe that the person must take off in order for his shoes to be taken off (this can be seen in the Shulchan Ahab, 3rd chapter, or at great length in the Anzet, volume 15, section on taking off one’s shoes).
My question is whether when Chazal and those who came after them dealt with this issue and investigated how this shoe should be made (its appearance is strange and peculiar, and I highly doubt whether anyone at one time wore such a shoe. There is a picture in the An-Nah), what was before their eyes was what God wanted, that is, was the assumption that when God told Moses the parshas of Halitza, it was in principle with Him that this status would be fulfilled in this shoe and not in a shoe like ours (which seems to me not so likely), or did the halakha have a life of its own, and have rules for how to ‘handle’ the verses of the Torah and demand them, and the concern has no connection or affiliation with the question of whether it is important to God that his people receive his rebuke (or whatever it may be) in this particular strange shoe?
To be honest, this question is general and concerns many mitzvot. I asked about a chalitza shoe because it particularly stood out to me here.