Struggling to remember whether to use -n when describing the destination of a movement

I'm a grammar-focused learner and I keep overthinking the accusative case in Esperanto whenever I talk about movement like 'Mi iras al la domo' versus 'Mi iras domon'. Does the preposition 'al' make the -n redundant, or is it a stylistic choice? I really want to internalize these rules so I don't have to pause mid-sentence during real-time speech.