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While you should not be doing miles barefoot or minimalist shoes

you SHOULD occasionally run barefoot on a safe surface like grass

Watch professional and semi-elite runners train and you will occasionally see them running barefoot on the grass between the track as "barefoot strides"

It helps you feel your form properly.

Modern shoes, especially the new "super-shoes" since 2016, are completely isolated from the feel of the road and can make you develop some very bad habits.