Actually this is the best way to walk. Unfortunately it is not really acheivable for most of us. If you want to hike barefoot, you have to walk barefoot all the time.
When I was a kid in the 50's and 60's we always went bare-footed in the summer. Never wore shoes. We could play baseball on asphalt streets barefooted. But every June when school was over, it took a few weeks for our feet to get really tough. By the end of summer we could step on a burning cigarette and not feel it.
As to running barefooted, and probably lightweight backpacking, it would be ideal... but you have to go bare-footed all the time. When I started high school, I ran cross country my freshman year because I could not afford shoes, and it was not against the rules. When track rolled around in the spring, I got some cheap tennis shoes to train in (my coach said the weight would help my training) and ran the meets barefooted.
For most of us, barefooted all the time is not possible. We have to wear shoes to work, shopping, etc.
I generally have very few foot problems at all, even when backpacking. It is probably because I work at home 90% of the time, and live in a climate that does not require shoes or boots for cold weather. I probably wear flip-flops 80% of the time, go barefooted 10% and wear shoes the last 10%. My feet always get to 'breath' 90% of the time. But no way would I consider a barefoot trek, unless I went barefoot for a couple of months full time.
For years I hiked in leather boots, with only a rare blister. Heavy boots didn't bother me at all, until someone told me I did not need to lift the extra weight. When I found out about breathable trail running shoes, I was in heaven. Sometimes I hike in cross country racing flats, sans socks. These shoes only weigh 6.5 oz each. No foot, arch or other problems with these either. The only problem with racing flats, is that they do no last long.