You don't want door hanging storage, and you don't want storage on the floor? Am I understanding your question?

Can you do in-closet storage? Is this for seasonal footwear, or footwear that's frequently used?

IKEA has some great shoe cabinet options

Check IKEA.

https://www.ikea.com/us/en/p/staell-shoe-cabinet-with-4-compartments-white-60530266/

For shoes I don’t wear outside regularly, I keep my own shoes on the upper shelves of my closet. Either in their shoeboxes or in clear ones, as long as I can tell from looking which shoes they are.

I used the Elfa system from The Conatiner Store for my closets and used two styles of their gliding shoe storage shelves. These photos show the two styles for heels and flats.

What kinds of shoes are you storing?

Slanted wood shelves. In our current house, there are closet shelves slanted downward toward the back (also good for small umbrellas, as this is in our mudroom closet). My folks built in shoe shelves that slant down towards the front, with a trim piece about half an inch from the edge, to catch the back of the heel. I liked those because it was easy to see the shoes.