I have by no means cracked parenting, in fact most days I’d say it feels like the very opposite.
But - you can be authoritative without shouting. The loudest voices aren’t always the most impactful ones.
I reserve shouting for immediate danger. Running into roads, jumping off things that are too high, etc etc.
Otherwise I have a pretty good “stern” voice, that when my (autistic) son is being a turd I actually say very little in.
I say his name and then “stop” from a distance once, and then go over and get to eye level and say it again, with some mention of consequences. “Stop, or we’re leaving.” If he doesn’t stop, we leave, end of story.
I never give consequences I don’t mean. If I do give one, I always follow through on it, and I only say no when I really mean it.
For shoes, I would take his shoes. Put them in front of him, and say “shoes” followed by “shoes now,” and then thanks once he’s done it.
All of the above is how I parent a severely autistic 10 year old, and that’s obviously not the same as others, and I’d caveat by saying I’m a human and absolutely lose my patience sometimes. But the blueprint we use is low firm voices, and very clear instructions.