How wonderful that people think about this, in what you would expect to be an increasingly technology-dominated world...
I used to walk barefoot in a park, in Ohio, cause it was all natural with no glass pieces and other debris - there were very few people in general there. With time, I got used to it, but sometimes it was difficult cause there were a lot of tiny little rock pieces in the dirt, and it pinched like needles, even though you could walk if you insisted
However, on normal dirt it was perfect.
You should also keep in mind, however, that if your feet are cold you may develop kidney problems - it depends on how you strong you feel they are, but you must be careful. I live in a country that is cold in winter, and I started wearing socks sometimes shoes even when in the house - and I feel much better internally. I would like to walk barefoot in the house, but I'm waiting for the weather to get hotter.