I answered another question on this but if I could be a full time barefooter, I would be. Feeling the different textures is kind of fun and it feels very freeing. No laces, socks, or fuss.
In certain places I do draw the line, like if its totally not safe to be but I have gone into some smaller stores and a couple other places, bigger stores no and with too many people around, I can't do.
Growing up and before I moved out of my parents' house, during the warmer months I would go barefoot around the house and in the yard. In fact, if me and my immediate family were all home on the weekend or something, all of us would be barefoot during the summer months.
As an adult, I still do, so its not something I ever grew out of.