ST indicates the VL53Lxx sensors are contamination sensitive and recommend using a window. Unfortunately the Pololu carriers do not include this. To the extent the sensors are protected from being touched and used in a home or office environment, to what extent is contamination without a window actually a problem?
We haven’t seen any noticeable problems from contamination of these sensors in the kinds of environment you described, but you might also consider asking on the ST community site to see if anyone there has had a different experience or has recommendations.
I expect that additional calibration will be required to get rid of the crosstalk that a cover glass introduces, and you can do that with the official ST APIs, but note that our simplified Arduino libraries do not support crosstalk calibration.