I do believe going barefoot is beneficial for both your body and mind, however I don't think everybody should start going barefoot out in public, grocery stores, sidewalks, etc. Too many rocks from our rocky infrastructure. Next time you go on a hike, however, take your shoes off and feel the earth.
This depends, too, because soils in many areas aren't safe to walk around just anywhere barefoot in due to parasites. This issue sounds more simple than it is, and that's the danger.