By "well-off", I mean the upper classes, senators for example.
Romans lived by the motto "eat, drink, and be merry, for tomorrow you may die", and their eating habits reflected this. As someone who could afford it for breakfast you would enjoy salted bread, milk or wine, and sometimes dried fruit, eggs or cheese. An ordinary upper class dinner would include meat usually seafood and poultry, fish, vegetables, eggs, and fruit. Comissatio was a final wine course at dinner's end. Most women and the poor sat on chairs while upper class men would recline on their sides on couches. Formal banquets could last for hours, eating and watching or listening to entertainers, so being able to stretch out without shoes, and relax must have enhanced the experience.