Just because so few other people do it does not mean it is wrong. It’s just unexplored.
Yes, society throws up all kinds of rules…but walking barefoot in the park or on city streets is public space. Maybe a store won’t let you in barefoot, but let that go for now. It’s OK to walk barefoot in public -that’s why it’s public-
Nobody private owns that space. It’s yours to enjoy. Take a walk on a warm day Barefoot enjoy the warm concrete….the warm soft grass….the cool shade…
It is healthy ! You will not get hurt…There is nothing wrong with it…and when people stare or glance….remember: everybody knows how nice bare soles feel. They’re just jealous that you are taking advantage of your own natural body…and they are not !