I just can encourage you to continue.
I must admit, I don't understand your fears. Maybe its different in different parts of the world. The only time i'm not comfortable barefoot is when I have to go to the toilet and have no shoes with me. Same maybe applies for official events, business etc.
I've even went to work barefoot until it was forbidden due to security issues.
So shopping, restaurants, public areas etc. are not a problem for me, especially in the summer.
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