In Japan, when visiting your friends’ home, you have to take off your shoes before entering their house.

In Japan, when visiting your friends’ home, you should take off your shoes before entering their house. I think 'should' is fine here, even if it's practically socially obligatory. It is polite to assume people want to do the things they should.

In Japan, when visiting your friend's home, you need to take off your shoes before entering their house.