I used to hike barefoot allot as a teen, it is very possible to do what Cody does. The catch is, you can't just do it for the weekend, you have to pretty much live that way. I went barefoot as much as possible as a child, and when I wore shoes, they were minimal, with no socks, even in the winter. In my teens I wore hand built moccasins, that I resoled many, many times, again no socks. Ishi liked suits, but he still preferred to go barefoot. I worked up to 5+ miles this summer on rough trails, with Five Fingers, but 20 years ago I could do it barefoot. You have a very different outlook on the world when going that minimal, you notice allot more, and you step carefully. There is much to be gained, besides tough feet, doing so.
I got pulled over when I was 16, coming back from a backpacking trip in S UT. I'd been out for a week, but looked like I'd been out there longer. When the officer approached my VW van, saw my cowboy hat, and heard the rap music, he imediately asked me to get out. So I stepped bare foot out onto the highway, and we walked to the back of the van. When we got to the back of the van and he saw that I was barefoot, he decided it was time for a field sobriety test. An hour later, after the dog had gone through everything 3 times, and allot of questions about all the ammunition, I was on my way again. I still prefer to drive barefoot, but thats for comfort.