I grew up nearly always barefoot when at home, and rode bikes barefoot till I got my Schwinn 10-speed which had TEETH on the pedals. Oops!
If you're riding barefoot, what kind of pedals are you using?
I ride in sandals and flip-flops, but only those with a firm sole--otherwise my feet cramp up.
I'm also a barefoot/minimalist runner (barefoot once a week or so with Luna sandles the rest of the time). I also don't like having my feet in restrictive shoes/socks. However, my commute is long and I've been using clipless pedals for 25 years, so I purchased a used set of Sidi Mega shoes off of ebay. They are extra wide and have plenty of room in the toe box. With those and my toe socks (Injinji), my feet are comfortable.
That would be about the worst way for efficient pedaling. You would loose effort to the soft tissue compressing with effort. I ride a long paved greenway. Putting my bare foot on hot asphalt at the street intersections has no appeal to me.
I put thin foam covers over the pedals to get better grip with my bare feet. I cut those out of a yoga mat.