We should specify the units as it reinforces the idea that units matter and one should always check.
The problem "v(t) = -32t+20ft/s on [0,5]" could be rewritten as
"v(t) = -32t + 20ft/s, where t is measured in seconds on [0,5]." I think that establishes both 1) what t represents, and 2) that [0,5] is also an interval representing seconds.
Related: in that exercise set, all velocities are ft/s save one, which is mph. I think one more exercise (likely #43, which is "v(t) = 10ft/s on [0,3]") should have its units change to mph.