Sure, if your feet are tender and fragile from wearing shoes it will take time to adjust to the new sensations under foot, but not long. Newbies that join me on hikes move quickly past the fearful tip-toeing around to walking naturally within a mile. Once your feet are toughened up you can explore nature freely, enjoying the touch of the earth but not fearful of the next "ouch." You can even run through the trails with the ease of a deer.
Yeah, I'm going out for a hike... see you later!