We have no hesitation crossing barefoot when we can see that the bottom is sandy. You go to the beach sometimes, don't you?
However, feet are extremely important, and if it is rocky and just one crossing we may remove our socks first, so as to have 'dry' socks for the rest of the day.
If there are several crossings to be done, we just keep walking without taking anything off, especially in summer. We do NOT use GTX shoes when walking (outside snow conditions), so our light joggers drain very easily.