For some of us, sleeping pads are a new invention. I was in Boy Scouts in the 60's and there were no pads. You made your ground flat, rock/stick free, and even made intentions for shoulders and hips if you were into luxury. Even now, I go minimal, if any pad at all for ground sleeping. I do mostly hammocks and a thin foam insulate is part of the system.
Barefoot....love it, but like hiking in sandals, can leave you stranded far from help.....but I can squat flat footed!