It's fine. It's good manners, but if you insist on standing outside they'll just think you're weird.
Just read the situation more. Same thing with wearing shoes inside. Here it is rude to wear shoes while inside, but in certain situations it is allowed or even encouraged (like in a party, where e.g. women often wear shoes that are not so easily taken off). People would just check if others are wearing shoes or not and act accordingly themselves (reading the situation).
Is it normal That I may not enter a home unless directly invited in?
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It's fine. It's good manners, but if you insist on standing outside they'll just think you're weird.
Just read the situation more. Same thing with wearing shoes inside. Here it is rude to wear shoes while inside, but in certain situations it is allowed or even encouraged (like in a party, where e.g. women often wear shoes that are not so easily taken off). People would just check if others are wearing shoes or not and act accordingly themselves (reading the situation).