Car living people: how do you keep the floor from turning into a mud zone?

I’ve been spending more time in and around trailheads and rainy parking lots, and the hardest part is keeping the inside from getting grimy. When your shoes are wet or muddy, there isn’t always a clean place to take them off before getting in.

I’ve tried cheap tray-style mats, but they don’t fit well and dirt still works its way underneath. For people who live out of their vehicles or camp often, what floor mats for muddy boots actually stay put and contain the mess? I’m looking for grip, decent edge coverage, and something that won’t hold odor if it gets cleaned regularly.