No, thats not painful, you are walking on concrete/asphalt, because you are in a town, not in a village to walk on gravel. And the wildness, its grass and dirt, nothing that can hurt your feet. So, theres nothing painfull, maybe only cold but thats nothing.
Well I feel like shoes were too much to ask, and socks are better than nothing.XD
This is a game with great immersion, and foot kink. Even if you manage to avoid all hazards that can damage your feet badly, walking in bare feet for days and your feet will grow a thick layer of callus. Sadly you won't be feeling slime twitching under your soft sole anymore.