I use a wheelchair and when it contacts the white trim paint it leaves a gray mark. Is there a white trim paint that won’t react that way?
If you use a semi-gloss the scuff marks should wash off with water, maybe some dish soap, and a soft cloth. Any good brand should do well but they can be damaged if its a hard contact.
Your only other choice is to use an oil base enamel, semi-gloss. Takes a long time to cure but dries very hard.