If you went barefoot constantly, wouldn't your feet get callused over the entire bottom? I realize that may depend on where you walk but let's say you confined your bare-footing to the woods and grasslands and squishy bottomland, not rocky roads and of course the carefully maintained dirt floor of your cabin. On reflection, though, perhaps not, since, in theory, those places are all nice and soft. Well, soft, anyway.
But theory sometimes doesn't make it past reality and besides, you may not want to confine your perambulations. The trails I use or have used have been all over the place, though I suppose most could be managed well enough at the cost of reduced speed, allowing for tolerable weather. If worse came to worse, a pair of sandals might save the day and there are other options. There are sandals, sort of, called, I think, surf shoes, which are sandals intended for the wet and have toe protection, something I care about. And there are shoes intended to be worn in swimming pools to protect the feet from a sandpaper-like concrete surface, although they're more sock-like than shoe-like. And you can do what primitive and poor people all through the tropics do: wear flip-flops.