feeling your feet on the warm pavement or grass should outweigh the convenience of shoes
You’ll dirty up your feet and be dragging in that dirt. Not to mention cleaning your feet is going to be even more trouble for not much benefit. And blueberry bushes and such really aren’t something you want to step on without shoes. Not to mention stepping on bees. That sucks
Or just leave the shoes on if you know you’ll be in and out for a while.