I also barely pick their feet, maybe once every two or three weeks? I used to pick their feet every time they came in the stalls but I have a back issue and when they jerk their feet around (older horses with arthritis, etc.) it wrenches my back and inevitably I have to make a same-day chiro appointment. My farrier agrees that unless they are standing around in their own shit (which they never are) having their feet packed with mud is totally fine.
I also pick their feet all from one side (usually the right side because of how they stand in the stalls).
I groom and tack in the stalls, almost never use the cross-ties.
With my older horse, who is big (17.2h) and my absolute heart and soul whom I trust implicitly, a few times I have been known to duck under his belly. He is a complete saint, and it’s usually in the context of putting stuff on his legs or something where I’m already crouched down and just one “step” takes me to the other side to do the other leg. I cringe a little when I do it, but he doesn’t move a muscle.
I have my one horse in a straw stall with pelleted bedding under his pee spot. I only muck the pee spot once or twice a week. I pick poops religiously and it is a very big straw bed (2+ bales in a 10x12 stall to make a bed) but because it’s so fluffy, it’s difficult to muck out and I don’t want to waste the pellets so I wait until they’re all fully expanded. Some might think this is gross but trust me, the horse is never standing on wet bedding, it’s all under the top layers of straw.