I would find it rather odd if I mentioned sore feet and some guy started taking off my shoes. Honestly, I would be thinking what the hell? I think a shoulder rub is far less intimate as it wouldn't be required to remove any clothing to receive one. In most social situations other than being off at the beach or water park, your feet should be unexposed.
I guess another way of looking at this would be to ask yourself if you would do the same for someone of your same gender(or to be more clear for some, the gender that does not interest you sexually)
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