My wife and I both switched to barefoot shoes (we were mostly shoes from Xero but I also like Vivobarefoot) and I can say that being able to feel the ground you walk on is kind of the point. Obviously you don’t want to feel the sharp edges of rocks or hurt your feet on broken glass or something, but the outsoles are tough enough to smooth out the really sharp edges while still allowing your foot to move and feel the features you are walking in. It takes getting used to (it’s recommended to take at least a month or so of slowly increasing the proportion of time you wear them) but I have never had shoes that are as comfortable as my barefoot shoes. Did multiple days of 10+ km on tours around Italy in the summer and my feet never hurt (only were tired, like the rest of me).
My wife and I both switched to barefoot shoes (we were mostly shoes from Xero but I also like Vivobarefoot) and I can say that being able to feel the ground you walk on is kind of the point. Obviously you don’t want to feel the sharp edges of rocks or hurt your feet on broken glass or something, but the outsoles are tough enough to smooth out the really sharp edges while still allowing your foot to move and feel the features you are walking in. It takes getting used to (it’s recommended to take at least a month or so of slowly increasing the proportion of time you wear them) but I have never had shoes that are as comfortable as my barefoot shoes. Did multiple days of 10+ km on tours around Italy in the summer and my feet never hurt (only were tired, like the rest of me).