If I had a rescue who was new to me, or didn't have a secure "wait" and recall, I think i would consider keeping a collar on at all times. In Kodi's case, though, he has a very reliable recall, and wouldn't THINK of running out of the house without me releasing him to do so. So he doesn't wear a collar (or tags) in the house. He doesn't loose on our property either. We are far from the street, he is always supervised, and he is under reliable voice control, so there is no need.
When we are off our property, his leash is attached to a harness, and he wears a collar just to hold his tags. I had his ID tags printed with my cell phone number, so i can be reached even if we were to lose him while on vacation. He also wears an AKC "findr" tag, and AKC maintains a database including his vet's contack info and alternate people to call if I can't be reached.
One place that people don't always think about, and I think is VITALLY important is in the car. In an accident, there have been many cases of dogs thrown from cars, or otherwise getting loose. Even very well trained dogs sometimes panic and run if involved in an accident. And if the owner is unconcious, there may be no one who even knows the dog was in the car. So Kodi ALWAYS wears tags in the car.
I used to only use rolled leather buckle collars for Kodi's tags, as they seemed to cause the least matting, especially when he was blowing coat. Now that his coat is mature, it seems to tolerate the soft braided leather collars made by Stibbar with no problem. and these collars are So much prettier!
. They also come in both buckle type AND a quick release snap version that's handy forf just quickly hanging tags around his neck.