Yeah, that's kind of one of those facts of living with chickens that you get used to after a while. If you want to let the girls free range in the yard instead of keeping them penned 24/7, you're going to have to stop going barefoot in said yard. I have a pair of shoes on the back porch that [almost] never come into the house just for running around in the yard and going to the chicken coop. I don't let my child go outside in the backyard barefoot and I make sure any visitors also know that it's not a good idea.
I do pick up the poop too. But I have two large dogs, so I've had to regularly do poop patrol for years before we got the chickens. I find it easiest to pick up poo using a latex glove, so while I'm out there picking up the dog poop I also get the chicken poop. Dog poop goes into a plastic bag and tossed in the garbage, chicken poop goes into a bucket and dumped in the compost bin. I still wouldn't dare go out there barefoot, but at least it keeps the flies down and minimizes the numbers of chicken land mines for the toddler to walk/fall in.