Flash from the past: don't take off that boot (shoe)
I show my first aid students the video (the next to latest version shows a first aider palpating the toes of a closed-toe sports shoe) telling you to check toes for circulation but telling you elsewhere not to remove the shoes. (This is in regards anatomic/self-splinting the legs with four cravat bandages and no padding).
One of the "Great Paradoxes of the ARC" .
But not insurmountable. If it hurts them more, don't do it. No, you can't check toes through a shoe, and the video does not tell them what to look or feel for at any rate. However, knowing the "leave the boot on" deal was from the era when they didn't have the supplies we have today, and if in the wilds you might need that foot bound up in its boot to get out to help, and since EMS help in the city/suburbs is not that a far away (heck, for a foot-only, a private auto is an ok workaround), shoe removal is still basically only done if you need to control important bleeding; otherwise,leave it on, or take it off, just do no more harm.
(EMT level: yes take it off, prevent compartmentalization and assess distal signs).