Any surface finished with a good urethane will handle dogs. Our dog had zero effect on the finish of our cork in 3 years. We never removed our footwear coming inside, unless it was very dirty, instead opting to just do a 60 second sweep once a day, or as needed.
I am still undecided as to the actual benefits of the foam, for the cost. Unless I really wanted to do winter camping, I don't see great benefit in it. Lots of ways to keep the floors cozy, and I doubt I would ever save enough energy to pay for it.
We do lots of bump-outs and cantilevers on homes, and even though the floors are well sealed and insulated, they always feel colder than the rest of the house. This is due to the fact that there is nothing warming them up, like having a heated space below would do. The floor won't really absorb much heat from the air. This is why having a good insulation layer directly under your feet is the best for comfort, something like cork or a fabric mat would provide.
2017 Escape 5.0 TA (someday soon, I hope
2015 Ford F150 Lariat 3.5L EcoBoost
2009 Escape 19 (previous)
“Most folks are about as happy as they make up their minds to be.” — Abraham Lincoln