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In the boot, the shaft (pipe upwards) reaches at least over the ankles, while in the overknee boot the shaft (as the name suggests) extends over the knee and is now often worn by women and also by trans women.
The ankle boots, on the other hand, are an elegant boot with elastic inserts usually on the side, to make it easier to slip in.
Another variation on the normal boot is the boot sandal. This is what is said when the boot is fitted with straps, as in the case of sandals, which reach over the ankle.