Shoes can track lead dust into your house and car. Wipe them down or change them before getting into your car after leaving the range. If you're over 60, just stop worrying about it. It takes decades for symptoms to show up unless it's a severe exposure.
Unless you're a child.
Like you said - lead exposure takes a lot over a long time to harm adults. Kids, especially youngsters, can get messed up with far less exposure.
I'm with OP - I'd rather be safe than sorry. I've got separate shooting shoes and clothes and both get changed out before I get back in the car to head home. Hands and face get wiped down at the range and I'll shower when home.
I see it as no different than changing into my climbing clothes before a climb, or my swim trunks before a swim, or gym clothes before a workout.