If you are healthy, go for it!
Give it a try and feel the difference.
On the other hand, if you have any health issues (overweight, hypermobile), you many need to find a physiotherapist specializing in foot. They will examine you, suggest a suitable exercise or physical activity and recommend whether barefoot is suitable for you or not.
Some physiotherapists can make custom-made insoles for you. These can then be inserted into barefoot shoes and thus take advantage of their benefits and at the same time protect your feet.
If you already have a significant or very painful foot deformity, a congenital developmental defect or, for example, you suffer from diabetes, you should consult with experts - physiotherapists or doctors - about your feet and suitable footwear.