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I have found it helpful to have a pan, with a little water in it, sitting on the porch. While the dirt is still damp, I can dip the soles of my shoes in the water and get the mud and debris off easily.
After mowing grass, this method also works well for removing wet grass clippings from my shoes.
I have used tooth picks because if you step in dog dirt or anything else it helps get it out and then use an old toothbrush with soap and water to clean the soles. It really works great!