Yep, been doing it for years. But I keep to the dirt road with only rocks to challenge and toughen my feet. There aren't any thorns except mesquite and they are always on branches easy to see and avoid. I'm one of those who loves the tactile experience (maybe there really is something to acupressure?) and believes barefoot walking helps strengthen feet and correct gait. I'm a great-grandma and my feet are healthier than 20 years ago...
But of course, I'd be an idiot to walk into any vegetation off road in snake country, whether in my backyard or the thousands of acres of desert that surround it, unless I had snake boots and gaiters.
And in these parts, we only hike and crawl over boulders in our mountains in winter when snakes are underground napping, regardless of footwear (snakes bite through shoes). Crawling over boulders exposes many body parts, including your face, to startled snakes.
Hijacking this briefly to barefoot enthusiast forum: But when it gets too jagged, I hike in Earthrunner sandals. Extremely rugged and its Primal Run Amoks.