Barefoot hiking isn't too hard. As for ruggedness, you just need to get out on the trail more and your feet and legs will toughen up quickly.
Just so I understand correctly, hiking involves walking. So, if one runs on a trail then technically it's not hiking, even if barefoot?Well, yes. I was a bit snarky (a bit? you say) starting off...I came into a thread under Barefootedness->The Unofficial Official Hiking Thread, and saw toe shoe, toe shoe, huaraches, trail gloves...
I've done a bunch of barefoot hiking while I'm out with the kids!
The real impediment to me, though, is that I live in a highly populated area. There's a lot of broken glass at anyplace close enough to the road where you could have a campfire AND drag a case of beer. Unlike on the road, I can't necessarily see it because of leaves. Backup sandals are a must!