Oh I don't go bare feet anymore. It use to be something I did all the time as a kid growing up but I don't do it anymore. The only time I go bare feet anymore is at home and even then I have house shoes on most of the time.
Barefoot, and for high impact moves, I do it while on a yoga mat or something. I think people really underestimate doing exercises barefoot. Shoes can actually harm your feet more than it helps because once you become dependent on them, your feet muscle weaken greatly. You might find yourself getting more ankle injuries with shoes, or bad feet strength because shoes don't strengthen feet, they're only meant to support your feet. It's better to do insanity exercises barefoot if you can to strengthen your feet's natural abilities to generate lower strength.